def _update(self):
temp_moving_obstacles = [self.main_vessel]
for vessel in self.moving_distances:
if len(vessel.reachable_vessels):
temp_moving_obstacles.append(vessel)
self.moving_obstacles = temp_moving_obstacles
while len(self.moving_obstacles) < MAX_VESSELS:
new_vessel_count = self._vessel_count + 1
vessel = Vessel(self.config,
width=self.config["vessel_width"],
index=new_vessel_count,
vessel_pos=self.main_vessel.position)
self.rewarder_dict[vessel.index] = ColavRewarder(vessel)
self.moving_obstacles.append(vessel)
print(f'vessel {i} has been created')
self._vessel_count += 1
for vessel in self.moving_obstacles:
other_vessels = [
x for x in self.moving_obstacles if x.index != vessel.index
]
vessel.obstacles = np.hstack(
[self.static_obstacles, other_vessels])
self.moving_obstacles.sort(key=lambda x: x.index)
return self.moving_obstacles
def _generate(self):
waypoints1 = np.vstack([[0, 0], [0, 500]]).T
path1 = Path(waypoints1)
init_pos1 = path1(0)
init_angle1 = path1.get_direction(0)
init_state1 = np.hstack([init_pos1, init_angle1])
self.main_vessel = Vessel(self.config,
init_state=init_state1,
init_path=path1,
width=2) #self.config["vessel_width"])
self.main_vessel.path = path1
self.rewarder_dict[self.main_vessel.index] = ColavRewarder(
self.main_vessel)
self.rewarder = self.rewarder_dict[self.main_vessel.index]
prog = 0
self.path_prog_hist = np.array([prog])
self.max_path_prog = prog
self.moving_obstacles = [self.main_vessel]
#Adding moving obstacle
waypoints2 = np.vstack([[0, 150], [0, -400]]).T
path2 = Path(waypoints2)
init_pos2 = path2(0)
init_angle2 = path2.get_direction(0)
init_state2 = np.hstack([init_pos2, init_angle2])
vessel = Vessel(self.config,
init_state=init_state2,
init_path=path2,
index=1,
width=2) #self.config["vessel_width"])
self.rewarder_dict[vessel.index] = ColavRewarder(vessel)
self.moving_obstacles.append(vessel)
vessel.path = path2
for vessel in self.moving_obstacles:
other_vessels = [
x for x in self.moving_obstacles if x.index != vessel.index
]
vessel.obstacles = np.hstack([other_vessels])
print('Generated vessels!')
def _generate(self):
print('In GENERATE in MA')
self.main_vessel = Vessel(self.config,
width=self.config["vessel_width"])
self.rewarder_dict[self.main_vessel.index] = ColavRewarder(
self.main_vessel)
self.rewarder = self.rewarder_dict[self.main_vessel.index]
prog = 0
self.path_prog_hist = np.array([prog])
self.max_path_prog = prog
print(f'Ownvessel created!')
self.moving_obstacles = [self.main_vessel]
self.static_obstacles = []
self._vessel_count = 1
#Adding moving obstacles (vessels)
curr_vessel_count = self._vessel_count
for i in range(curr_vessel_count, curr_vessel_count + MAX_VESSELS - 1):
vessel = Vessel(self.config,
width=self.config["vessel_width"],
index=i,
vessel_pos=self.main_vessel.position)
self.rewarder_dict[vessel.index] = ColavRewarder(vessel)
self.moving_obstacles.append(vessel)
print(f'vessel {i} has been created')
self._vessel_count += 1
for vessel in self.moving_obstacles:
other_vessels = [
x for x in self.moving_obstacles if x.index != vessel.index
]
vessel.obstacles = np.hstack(
[self.static_obstacles, other_vessels])
#Adding static obstacles
for _ in range(8):
obstacle = CircularObstacle(*helpers.generate_obstacle(
self.rng, self.path, self.vessel, displacement_dist_std=500))
self.static_obstacles.append(obstacle)
print('Exiting GENERATE in MA')
def _generate(self):
print('In GENERATE in MA')
self.main_vessel = Vessel(self.config,
width=self.config["vessel_width"])
prog = 0
self.path_prog_hist = np.array([prog])
self.max_path_prog = prog
self.rewarder = MultiRewarder(self.main_vessel)
print(f'Ownship created!')
self.moving_obstacles = [self.main_vessel]
self.static_obstacles = []
self.queued_vessels = []
#Adding static obstacles
#for _ in range(8):
# obstacle = CircularObstacle(*helpers.generate_obstacle(self.rng, self.main_vessel.path, self.main_vessel))
# self.static_obstacles.append(obstacle)
self._vessel_count = 1
#Adding moving obstacles (ships)
curr_vessel_count = self._vessel_count
for i in range(curr_vessel_count, curr_vessel_count + 5):
#obst_speed = np.random.random()
ship = Vessel(self.config,
width=self.config["vessel_width"],
index=i,
vessel_pos=self.main_vessel.position)
self.moving_obstacles.append(ship)
print(f'Ship {i} has been created')
self._vessel_count += 1
for ship in self.moving_obstacles:
other_ships = [
x for x in self.moving_obstacles if x.index != ship.index
]
#ship.obstacles.extend(other_ships)
ship.obstacles = np.hstack([self.static_obstacles, other_ships])
print('Exiting GENERATE in MA')
def step(self, action: list) -> (np.ndarray, float, bool, dict):
"""
Steps the environment by one timestep. Returns observation, reward, done, info.
Parameters
----------
action : np.ndarray
[thrust_input, torque_input].
Returns
-------
obs : np.ndarray
Observation of the environment after action is performed.
reward : double
The reward for performing action at his timestep.
done : bool
If True the episode is ended, due to either a collision or having reached the goal position.
info : dict
Dictionary with data used for reporting or debugging
"""
print('IN STEP')
if len(self.queued_vessels) == 0:
current_vessel = self.main_vessel
else:
current_vessel = self.queued_vessels.pop(0)
current_index = current_vessel.index
print(f'Current vessel is ship {current_index}')
#[vessel.update_without_agent(self.config["t_step_size"]) for vessel in self.moving_obstacles if vessel.index != current_index]
action[0] = (action[0] + 1) / 2
current_vessel.step(action)
reward = self.rewarder.calculate(current_vessel)
self.cumulative_reward += reward
vessel_data = self.main_vessel.req_latest_data()
self.collision = vessel_data['collision']
self.reached_goal = vessel_data['reached_goal']
self.progress = vessel_data['progress']
info = {}
info['collision'] = self.collision
info['reached_goal'] = self.reached_goal
info['progress'] = self.progress
done = self._isdone()
self._save_latest_step()
self.moving_obstacles = self.main_vessel.nearby_vessels
#Adding moving obstacles (ships)
if not self.t_step % 150:
#print(f'Time step: {self.t_step}, position of vessel: {self.main_vessel.position}')
curr_vessel_count = self._vessel_count
for i in range(curr_vessel_count, curr_vessel_count + 5):
#obst_speed = np.random.random()
ship = Vessel(self.config,
width=self.config["vessel_width"],
index=i,
vessel_pos=self.main_vessel.position)
self.moving_obstacles.append(ship)
print(f'Ship {i} has been created')
self._vessel_count += 1
for ship in self.moving_obstacles:
other_ships = [
x for x in self.moving_obstacles if x.index != ship.index
]
#ship.obstacles.extend(other_ships)
ship.obstacles = np.hstack(
[self.static_obstacles, other_ships])
if len(self.queued_vessels) == 0:
self.queued_vessels = [
x for x in self.moving_obstacles if x.index != 0
]
next_vessel = self.main_vessel
else:
next_vessel = self.queued_vessels[0]
obs = next_vessel.observe()
self.t_step += 1
print('EXITIG STEP')
return (obs, reward, done, info)
