def display(cls, agent, agent_surface, sim_surface=None):
"""
Display an agent visualization on a pygame surface.
:param agent: the agent to be displayed
:param agent_surface: the pygame surface on which the agent is displayed
:param sim_surface: the pygame surface on which the environment is displayed
"""
if isinstance(agent, AbstractDQNAgent):
DQNGraphics.display(agent, agent_surface, sim_surface)
elif isinstance(agent, BFTQAgent):
BFTQGraphics.display(agent, agent_surface)
elif isinstance(agent, ValueIterationAgent):
ValueIterationGraphics.display(agent, agent_surface)
elif isinstance(agent, MCTSAgent):
MCTSGraphics.display(agent, agent_surface)
elif isinstance(agent, IntervalRobustPlannerAgent):
IntervalRobustPlannerGraphics.display(agent, agent_surface, sim_surface)
elif isinstance(agent, DiscreteRobustPlannerAgent):
DiscreteRobustPlannerGraphics.display(agent, agent_surface, sim_surface)
elif isinstance(agent, ConstrainedEPCAgent):
ConstrainedEPCGraphics.display(agent, agent_surface, sim_surface)
elif isinstance(agent, RobustEPCAgent):
RobustEPCGraphics.display(agent, agent_surface, sim_surface)
elif isinstance(agent, AbstractTreeSearchAgent):
TreeGraphics.display(agent, agent_surface)
def display(cls, agent, agent_surface, sim_surface):
plan = agent.planner.get_plan()
for env in [preprocess_env(agent.true_env, preprocessors) for preprocessors in agent.config["models"]]:
IntervalRobustPlannerGraphics.display_uncertainty(env, plan, sim_surface, trajectory=False)
# for vehicle in env.road.vehicles:
# if hasattr(vehicle, ):
# IntervalRobustPlannerGraphics.display(vehicle)
# for vehicle in env.road.vehicles:
# vehicle.trajectory = []
# for action in plan[:horizon] + (horizon - len(plan)) * [1]:
# env.step(action)
# for vehicle in env.road.vehicles:
# if vehicle is env.vehicle:
# continue
# uncertainty_surface = pygame.Surface(sim_surface.get_size(), pygame.SRCALPHA, 32)
# IntervalRobustPlannerGraphics.display_trajectory(vehicle.trajectory, uncertainty_surface, sim_surface,
# IntervalRobustPlannerGraphics.MODEL_TRAJ_COLOR)
# sim_surface.blit(uncertainty_surface, (0, 0))
TreeGraphics.display(agent, agent_surface)
def display(cls, agent, agent_surface, sim_surface=None):
"""
Display an agent visualization on a pygame surface.
:param agent: the agent to be displayed
:param agent_surface: the pygame surface on which the agent is displayed
:param sim_surface: the pygame surface on which the environment is displayed
"""
if isinstance(agent, AbstractDQNAgent):
DQNGraphics.display(agent, agent_surface)
elif isinstance(agent, ValueIterationAgent):
ValueIterationGraphics.display(agent, agent_surface)
elif isinstance(agent, MCTSAgent):
MCTSGraphics.display(agent, agent_surface)
elif isinstance(agent, IntervalRobustPlannerAgent):
IntervalRobustPlannerGraphics.display(agent, agent_surface,
sim_surface)
elif isinstance(agent, DiscreteRobustPlannerAgent):
DiscreteRobustPlannerGraphics.display(agent, agent_surface,
sim_surface)
elif isinstance(agent, DeterministicPlannerAgent) \
or isinstance(agent, OLOPAgent):
TreeGraphics.display(agent, agent_surface)
def display(cls, agent, agent_surface, sim_surface):
robust_env = preprocess_env(agent.env, agent.config["env_preprocessors"])
cls.display_uncertainty(robust_env, plan=agent.get_plan(), surface=sim_surface)
if agent_surface and hasattr(agent, "sub_agent"):
TreeGraphics.display(agent.sub_agent, agent_surface)