def get_ground_truth(self):
self.ground_truth_path = self.local_models_path / 'safety_ground_truth.npz'
load = self.ground_truth_path.exists()
if load:
try:
ground_truth = SafetyTruth.load(self.ground_truth_path,
self.env)
except ValueError:
load = False
if not load:
ground_truth = SafetyTruth(self.env)
ground_truth.compute()
ground_truth.save(self.ground_truth_path)
return ground_truth
def test_safety_map(self):
env = MyDiscreteHovership()
safety = SafetyTruth(env)
safety.compute()
true_safety_map = np.array([[False, False, False, False],
[False, False, False, False],
[False, False, False, True],
[False, True, True, True],
[True, True, True, True],
[True, True, True, True]])
self.assertTrue(
np.all(safety.viable_set == true_safety_map),
'Error: computed Safety map is different from ground truth.\n'
f'Computed:\n{safety.viable_set}\nGround truth:\n{true_safety_map}'
)
class SafetyTruthComputation(TruthComputationSimulation):
def __init__(self, name, env_name, discretization_shape, *args, **kwargs):
if env_name == 'cartpole':
env_builder = ContinuousCartPole
else:
raise ValueError(f'Environment {env_name} is not supported')
output_directory = Path(__file__).parent.resolve()
super(SafetyTruthComputation, self).__init__(output_directory, name,
safety_name(env_name))
self.env = env_builder(discretization_shape=discretization_shape,
*args,
**kwargs)
self.truth = SafetyTruth(self.env)
self.Q_map_path = self.output_directory / (str(Q_map_name(env_name)) +
'.npy')
self.save_path = self.output_directory / safety_name(env_name)
logger.info(config_msg(f"env_name='{env_name}'"))
logger.info(
config_msg(f"discretization_shape='{discretization_shape}'"))
logger.info((config_msg(f"args={args}")))
logger.info((config_msg(f"kwargs={kwargs}")))
def run(self):
logger.info('Launched computation of viable set')
if not self.Q_map_path.exists():
errormsg = f'The transition map could not be found at ' \
f'{str(self.Q_map_path)}. Please compute it first.'
logger.critical(errormsg)
raise FileNotFoundError(errormsg)
tick = time.time()
self.truth.compute(self.Q_map_path)
tock = time.time()
logger.info(f'Done in {tock - tick:.2f} s.')
self.truth.save(str(self.save_path))
logger.info(f'Output saved in {str(self.save_path)}')