def get_agent(self, name, AgentClass, x_init,*args,**kwargs):
if not self.initialized:
raise Exception("{} need to be initialized first".format(type(self).__name__))
if self.agents.get(name) is not None:
return self.agents.get(name)
agent = AgentClass(name=name,*args,**kwargs)
x_init = np.squeeze(x_init)
if (x_init.shape[0] != agent.dim):
raise ValueError(x_init)
agent.set_init(x_init,self.times[-1])
if self.keep_global_state :
if len(self.states)>0:
x = list(np.squeeze(self.states[-1]))
x.extend(x_init)
self.states[-1] = np.squeeze(x)
else:
self.states.append(x_init)
self.agents[name] = agent
self.n_dim = sum([self.agents[key].dim for key in self.agents]) #np.squeeze(self.states[-1]).shape[0]
return agent
def phy_equation(self,t,x):
f_x= []
self.update_state_for_all_agents(x,t,save=False)
for _,agent in self.agents.items():
dx = agent(z=x,t=t)
f_x.extend(np.squeeze(dx))
return f_x
def update_state(self,x,t,save=True):
x = np.squeeze(x)
if x.shape[0] != self.dim or len(x.shape) != 1:
raise ValueError(x)
self.state = x
self.t = t
if self.save_history and save:
self.history["t"].append(t)
self.history["x"].append(x)
def __call__(self,z=None,t=None,*args,**kwargs):
if self.controller is None:
u = z
else:
u = self.controller(x=z,
t=t,
ego_agent=self,*args,**kwargs)
u = np.squeeze(u)
if u.shape[0] != self.dim_u or len(u.shape)!=1:
raise ValueError(u)
return self.dynamics(u,t,*args,**kwargs)
def update_state_for_all_agents(self,state,t,save=True):
state = np.squeeze(state)
for agent,x in zip(self.agents,np.split(state,len(self.agents))):
self.agents[agent].update_state(x,t,save=save)