def vision_for(self, agent):
"""
Строит видение мира для каждого агента
:param agent: машинка, из которой мы смотрим
:return: список из модуля скорости машинки, направленного угла между направлением машинки
и направлением на центр и `agent.rays` до ближайших стен трека (запустите картинку, и станет совсем понятно)
"""
state = self.agent_states[agent]
vision = [
abs(state.velocity),
np.sin(angle(-state.position, state.heading))
]
extras = len(vision)
delta = pi / (agent.rays - 1)
start = rotate(state.heading, -pi / 2)
sectors = len(self.map)
for i in range(agent.rays):
# define ray direction
ray = rotate(start, i * delta)
# define ray's intersections with walls
vision.append(np.infty)
for j in range(sectors):
inner_wall = self.map[j - 1][0], self.map[j][0]
outer_wall = self.map[j - 1][1], self.map[j][1]
intersect = intersect_ray_with_segment((state.position, ray),
inner_wall)
intersect = abs(
intersect -
state.position) if intersect is not None else np.infty
if intersect < vision[-1]:
vision[-1] = intersect
intersect = intersect_ray_with_segment((state.position, ray),
outer_wall)
intersect = abs(
intersect -
state.position) if intersect is not None else np.infty
if intersect < vision[-1]:
vision[-1] = intersect
for obstacle in self.obs:
for j in range(len(obstacle)):
obstacle_wall = obstacle[j - 1], obstacle[j]
intersect = intersect_ray_with_segment(
(state.position, ray), obstacle_wall)
intersect = abs(
intersect -
state.position) if intersect is not None else np.infty
if intersect < vision[-1]:
vision[-1] = intersect
assert vision[-1] < np.infty, \
"Something went wrong: {}, {}".format(str(state), str(agent.chosen_actions_history[-1]))
assert len(vision) == agent.rays + extras, \
"Something went wrong: {}, {}".format(str(state), str(agent.chosen_actions_history[-1]))
return vision
def vision_for(self, agent):
"""
Строит видение мира для каждого агента
:param agent: машинка, из которой мы смотрим
:return: список из модуля скорости машинки, направленного угла между направлением машинки
и направлением на центр и `agent.rays` до ближайших стен трека (запустите картинку, и станет совсем понятно)
"""
state = self.agent_states[agent]
vision = [abs(state.velocity), np.sin(angle(-state.position, state.heading))]
extras = len(vision)
delta = pi / (agent.rays - 1)
start = rotate(state.heading, - pi / 2)
sectors = len(self.map)
for i in range(agent.rays):
# define ray direction
ray = rotate(start, i * delta)
# define ray's intersections with walls
vision.append(np.infty)
for j in range(sectors):
inner_wall = self.map[j - 1][0], self.map[j][0]
outer_wall = self.map[j - 1][1], self.map[j][1]
intersect = intersect_ray_with_segment((state.position, ray), inner_wall)
intersect = abs(intersect - state.position) if intersect is not None else np.infty
if intersect < vision[-1]:
vision[-1] = intersect
intersect = intersect_ray_with_segment((state.position, ray), outer_wall)
intersect = abs(intersect - state.position) if intersect is not None else np.infty
if intersect < vision[-1]:
vision[-1] = intersect
for obstacle in self.obs:
for j in range(len(obstacle)):
obstacle_wall = obstacle[j - 1], obstacle[j]
intersect = intersect_ray_with_segment((state.position, ray), obstacle_wall)
intersect = abs(intersect - state.position) if intersect is not None else np.infty
if intersect < vision[-1]:
vision[-1] = intersect
assert vision[-1] < np.infty, \
"Something went wrong: {}, {}".format(str(state), str(agent.chosen_actions_history[-1]))
assert len(vision) == agent.rays + extras, \
"Something went wrong: {}, {}".format(str(state), str(agent.chosen_actions_history[-1]))
return vision
def move(self, car_state, action, *args, **kwargs):
"""
Moves object to the next point according to object's state. If object crosses the wall, move is rejected and
object's position remains unchanged.
:param car_state: state of car, of class CarState
:param action: car action, of class Action
:return: tuple(CarState with object's next position, boolean indication whether the collision happened)
"""
position = car_state.position
velocity = car_state.velocity
acceleration = rotate(car_state.heading,
action.steering * pi / 2) * action.acceleration
new_position = position + velocity * self.timedelta + acceleration * (
self.timedelta**2) / 2
collision = self.is_out_of_map(new_position)
if collision:
return CarState(position, -0.5 * velocity,
-car_state.heading), collision
else:
new_velocity = velocity + acceleration * self.timedelta
heading = new_position - position
if abs(heading) > 1e-5:
heading /= abs(heading)
else:
heading = car_state.heading
return CarState(new_position, new_velocity, heading), collision
def move(self, car_state, action, *args, **kwargs):
"""
Moves object to the next point according to object's state. If object crosses the wall, move is rejected and
object's position remains unchanged.
:param car_state: state of car, of class CarState
:param action: car action, of class Action
:return: tuple(CarState with object's next position, boolean indication whether the collision happened)
"""
position = car_state.position
velocity = car_state.velocity
acceleration = rotate(car_state.heading, action.steering * pi / 2) * action.acceleration
new_position = position + velocity * self.timedelta + acceleration * (self.timedelta ** 2) / 2
collision = self.is_out_of_map(new_position)
if collision:
return CarState(position, -0.5 * velocity, -car_state.heading), collision
else:
new_velocity = velocity + acceleration * self.timedelta
heading = new_position - position
if abs(heading) > 1e-5:
heading /= abs(heading)
else:
heading = car_state.heading
return CarState(new_position, new_velocity, heading), collision
