class Environment(object):
NUM_SENSORS = 5
def __init__(self, circuit, render=False):
self.circuit = circuit
self.car = Car(self.circuit, num_sensors=self.NUM_SENSORS)
# To render the environment
self.render = render
if render:
self.ui = Interface(self.circuit, self.car)
self.ui.show(block=False)
# Build the possible actions of the environment
self.actions = []
for turn_step in range(-2, 3, 1):
for speed_step in range(-1, 2, 1):
self.actions.append((speed_step, turn_step))
self.count = 0
def reward(self) -> float:
"""Computes the reward at the present moment"""
# This should return a float"""
if not (self.isEnd()):
reward = self.car.speed * (min(self.car.distances()))
else:
reward = -1
return reward
def isEnd(self) -> bool:
"""Is the episode over ?"""
if (not (self.car.in_circuit())):
return True
return False
def reset(self):
self.count = 0
self.car.reset()
self.circuit.reset()
return self.current_state
@property
def current_state(self):
result = self.car.distances()
result.append(self.car.speed)
return result
def step(self, i: int, greedy):
"""Takes action i and returns the new state, the reward and if we have
reached the end"""
self.count += 1
self.car.action(*self.actions[i])
state = self.current_state
isEnd = self.isEnd()
reward = self.reward()
completed = self.circuit.laps * 100 + self.circuit.progression * 100
if self.render:
self.ui.update()
return state, reward, isEnd, completed
def mayAddTitle(self, title):
if self.render:
self.ui.setTitle(title)
class Environment(object):
NUM_SENSORS = 5
def __init__(self, circuit, render=False):
self.circuit = circuit
self.car = Car(self.circuit, num_sensors=self.NUM_SENSORS)
# To render the environment
self.render = render
if render:
self.ui = Interface(self.circuit, self.car)
self.ui.show(block=False)
# Build the possible actions of the environment
self.actions = []
for turn_step in range(-2, 3, 1):
for speed_step in range(-1, 2, 1):
self.actions.append((speed_step, turn_step))
self.count = 0
def reward(self) -> float:
"""Computes the reward at the present moment"""
# TODO(students): !!!!!!!!! IMPLEMENT THIS !!!!!!!!!!!!!! """
# This should return a float"""
self.reward_val = self.circuit.progression
return self.reward_val
def isEnd(self) -> bool:
"""Is the episode over ?"""
# TODO(students): !!!!!!!!! IMPLEMENT THIS !!!!!!!!!!!!!! """
# Should return true if we have reached the end of an episode, False
# otherwise
# print(self.reward_val)
if not self.car.in_circuit() or self.car.speed < 10e-5:
return True
return False
def reset(self):
self.count = 0
self.car.reset()
self.circuit.reset()
return self.current_state
@property
def current_state(self):
result = self.car.distances()
result.append(self.car.speed)
return result
def step(self, i: int, greedy):
"""Takes action i and returns the new state, the reward and if we have
reached the end"""
# print(self.car.speed)
self.count += 1
self.car.action(*self.actions[i])
state = self.current_state
isEnd = self.isEnd()
reward = self.reward()
if self.render:
self.ui.update()
return state, reward, isEnd
def mayAddTitle(self, title):
if self.render:
self.ui.setTitle(title)
