def compute_graph()

in interaction_exploration/tools/calculate_max_interactions.py [0:0]

• 44 lines of code
• 14 McCabe index (conditional complexity)

    def compute_graph(self):

        G = nx.DiGraph()

        queue = [self.agent_pose(self.state)] # random reachable pose
        seen = set(queue)
        while True:

            if len(queue)==0:
                break

            node = queue.pop(0)
            x0, y0, z0, rot0, hor0 = node

            nbhs = []

            # turn
            nbhs.append({'act':'tright', 'pos':node[:3]+((rot0+30)%360, hor0)})      
            nbhs.append({'act':'tleft', 'pos':node[:3]+((rot0-30)%360, hor0)})            

            # look
            nbhs.append({'act':'up', 'pos':node[:3]+(rot0, max(-30, hor0-15))})      
            nbhs.append({'act':'down', 'pos':node[:3]+(rot0, min(60, hor0+15))})    

            # move -- only allow if facing right angles
            if rot0%90 == 0:
                x = x0 + 0.25*np.sin(np.radians(rot0))
                z = z0 + 0.25*np.cos(np.radians(-rot0))
                y = y0
                x_snap = min(self.reachable_x, key=lambda item: np.abs(item-x))
                z_snap = min(self.reachable_z, key=lambda item: np.abs(item-z))

                dist = np.sqrt((x-x_snap)**2 + (z-z_snap)**2)
                if (x_snap, y, z_snap) in self.reachable_positions and dist<1e-12:
                    nbhs.append({'act':'forward', 'pos':(x_snap, y, z_snap, rot0, hor0)})    


            for nbh in nbhs:
                if nbh['pos'] not in seen:
                    queue.append(nbh['pos'])

                seen.add(nbh['pos'])
                G.add_edge(node, nbh['pos'], action=nbh['act'])

        print (f'Graph constructed with {len(G.nodes)} nodes |{len(self.reachable_positions)} reachable positions')

        # checking if all positions are in graph
        success = True
        for (x, y, z), rot, hor in itertools.product(self.reachable_positions, [0, 30, 60, 90, 120, 150, 180, 210, 240, 270, 300, 330], [-30, -15, 0, 15, 30, 45, 60]):
            if (x, y, z, rot, hor) not in G:
                print (x, y, z, rot, hor, '<-- MISSING')
                success = False
                break

        if not nx.is_strongly_connected(G):
            cc = nx.strongly_connected_components(G)
            print ('NOT STRONGLY CONNECTED:', len(cc), 'components')
            return None
        else:
            print ('IS CONNECTED!!')


        if not success:
            G = None
        return G