def make_agent_walk_along_nx_graph(self, nx_skeleton, source_node, target_node):
if isinstance(nx_skeleton, nx.Graph):
nx_skeleton = networkx_utils.NxSkeleton(nx_graph=nx_skeleton)
self.relative_coordinate_system = True
nx_skeleton.add_direction_vector_to_nodes(check_for_circles_branches=False)
nx_graph = nx_skeleton.nx_graph
walk = nx.shortest_path(nx_graph, source_node, target_node)
# Let the hero walk along the given graph
for ii in walk:
first_pos = nx_graph.node[ii]['position']
dir_vector = nx_graph.node[ii]['dir_vector']
# print dir_vector
dir_vector = helpers.discretize_vector_to_voxel(dir_vector)
rel_vector = self.abs_dir_to_rel_dir(dir_vector)
rel_vector = helpers.discretize_vector_to_voxel(rel_vector)
action_id = self.conv_dir_to_action_id(rel_vector)
# print "----"
# print 'dir vector', dir_vector
# print 'rel_vector', rel_vector
# print 'direction vector of agent', self.hero.get_current_direction()
# print 'action id', action_id
# print self.directions[action_id]
self.hero.jump(first_pos)
self.hero.observed_observations.append(self.observation_matrix[first_pos[0], first_pos[1], first_pos[2]])
self.hero.visited_positions.append(tuple(nx_graph.node[ii]['position']))
self.hero.taken_actions.append(action_id)
def relative_dir_to_abs_dir(self, direction):
direction = np.array(direction)
direction_of_agent = self.hero.get_current_direction()
if direction_of_agent is None:
direction_of_agent = direction.copy()
direction_of_agent = helpers.np_array_to_vector3(direction_of_agent)
direction_of_agent.normalize()
direction_of_agent = helpers.discretize_vector_to_voxel(direction_of_agent)
rotation_matrix = helpers.get_rot_matrix_from_vec1_to_vec2([0, 1, 0], direction_of_agent)
absolute_direction = np.matmul(rotation_matrix, direction)
absolute_direction = helpers.discretize_vector_to_voxel(absolute_direction)
check_direction = np.matmul(rotation_matrix, np.array([0, 1, 0]))
check_direction = helpers.discretize_vector_to_voxel(check_direction)
assert ((check_direction == direction_of_agent).all()), "rotating the system to agent's perspective is broken"
return absolute_direction
def abs_dir_to_rel_dir(self, direction, direction_of_agent=None):
if direction_of_agent is None:
direction_of_agent = self.hero.get_current_direction()
if direction_of_agent is None:
direction_of_agent = direction.copy()
rotation_matrix = helpers.get_rot_matrix_from_vec1_to_vec2(direction_of_agent, [0, 1, 0])
relative_direction = np.matmul(rotation_matrix, direction)
relative_direction = helpers.discretize_vector_to_voxel(relative_direction)
return relative_direction
