def showDomain(self, a=0, s=None):
if s is None:
s = self.state
# Draw the environment
if self.domain_fig is None:
self.agent_fig = plt.figure("Domain")
self.domain_fig = plt.imshow(
self.map,
cmap='GridWorld',
interpolation='nearest',
vmin=0,
vmax=5)
plt.xticks(np.arange(self.COLS), fontsize=FONTSIZE)
plt.yticks(np.arange(self.ROWS), fontsize=FONTSIZE)
# pl.tight_layout()
self.agent_fig = plt.gca(
).plot(s[1],
s[0],
'kd',
markersize=20.0 - self.COLS)
plt.show()
self.agent_fig.pop(0).remove()
self.agent_fig = plt.figure("Domain")
#mapcopy = copy(self.map)
#mapcopy[s[0],s[1]] = self.AGENT
# self.domain_fig.set_data(mapcopy)
# Instead of '>' you can use 'D', 'o'
self.agent_fig = plt.gca(
).plot(s[1],
s[0],
'k>',
markersize=20.0 - self.COLS)
plt.draw()
def showDomain(self, a=0, s=None):
if s is None:
s = self.state
# Draw the environment
if self.domain_fig is None:
self.agent_fig = plt.figure("Domain")
self.domain_fig = plt.imshow(self.map,
cmap='GridWorld',
interpolation='nearest',
vmin=0,
vmax=5)
plt.xticks(np.arange(self.COLS), fontsize=FONTSIZE)
plt.yticks(np.arange(self.ROWS), fontsize=FONTSIZE)
# pl.tight_layout()
self.agent_fig = plt.gca().plot(s[1],
s[0],
'kd',
markersize=20.0 - self.COLS)
plt.show()
self.agent_fig.pop(0).remove()
self.agent_fig = plt.figure("Domain")
#mapcopy = copy(self.map)
#mapcopy[s[0],s[1]] = self.AGENT
# self.domain_fig.set_data(mapcopy)
# Instead of '>' you can use 'D', 'o'
self.agent_fig = plt.gca().plot(s[1],
s[0],
'k>',
markersize=20.0 - self.COLS)
plt.draw()
def showDomain(self, a):
s = self.state
# Plot the car
x, y, speed, heading = s
car_xmin = x - self.REAR_WHEEL_RELATIVE_LOC
car_ymin = y - self.CAR_WIDTH / 2.
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.figure()
# Goal
plt.gca().add_patch(
plt.Circle(self.GOAL,
radius=self.GOAL_RADIUS,
color='g',
alpha=.4))
plt.xlim([self.XMIN, self.XMAX])
plt.ylim([self.YMIN, self.YMAX])
plt.gca().set_aspect('1')
# Car
if self.car_fig is not None:
plt.gca().patches.remove(self.car_fig)
self.car_fig = mpatches.Rectangle([car_xmin, car_ymin],
self.CAR_LENGTH,
self.CAR_WIDTH,
alpha=.4)
rotation = mpl.transforms.Affine2D().rotate_deg_around(
x, y, heading * 180 / np.pi) + plt.gca().transData
self.car_fig.set_transform(rotation)
plt.gca().add_patch(self.car_fig)
plt.draw()
def showDomain(self, a):
s = self.state
# Plot the car
x, y, speed, heading = s
car_xmin = x - self.REAR_WHEEL_RELATIVE_LOC
car_ymin = y - old_div(self.CAR_WIDTH, 2.)
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.figure()
# Goal
plt.gca(
).add_patch(
plt.Circle(
self.GOAL,
radius=self.GOAL_RADIUS,
color='g',
alpha=.4))
plt.xlim([self.XMIN, self.XMAX])
plt.ylim([self.YMIN, self.YMAX])
plt.gca().set_aspect('1')
# Car
if self.car_fig is not None:
plt.gca().patches.remove(self.car_fig)
self.car_fig = mpatches.Rectangle(
[car_xmin,
car_ymin],
self.CAR_LENGTH,
self.CAR_WIDTH,
alpha=.4)
rotation = mpl.transforms.Affine2D().rotate_deg_around(
x, y, heading * 180 / np.pi) + plt.gca().transData
self.car_fig.set_transform(rotation)
plt.gca().add_patch(self.car_fig)
plt.draw()
def showDomain(self, a):
if self.gcf is None:
self.gcf = plt.gcf()
s = self.state
# Plot the car
x, y, speed, heading = s
car_xmin = x - self.REAR_WHEEL_RELATIVE_LOC
car_ymin = y - self.CAR_WIDTH / 2.
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.figure()
# Goal
plt.gca(
).add_patch(
plt.Circle(
self.GOAL,
radius=self.GOAL_RADIUS,
color='g',
alpha=.4))
plt.xlim([self.XMIN, self.XMAX])
plt.ylim([self.YMIN, self.YMAX])
plt.gca().set_aspect('1')
# Car
if self.car_fig is not None:
plt.gca().patches.remove(self.car_fig)
if self.slips:
slip_x, slip_y = zip(*self.slips)
try:
line = plt.axes().lines[0]
if len(line.get_xdata()) != len(slip_x): # if plot has discrepancy from data
line.set_xdata(slip_x)
line.set_ydata(slip_y)
except IndexError:
plt.plot(slip_x, slip_y, 'x', color='b')
self.car_fig = mpatches.Rectangle(
[car_xmin,
car_ymin],
self.CAR_LENGTH,
self.CAR_WIDTH,
alpha=.4)
rotation = mpl.transforms.Affine2D().rotate_deg_around(
x, y, heading * 180 / np.pi) + plt.gca().transData
self.car_fig.set_transform(rotation)
plt.gca().add_patch(self.car_fig)
plt.draw()
# self.gcf.canvas.draw()
plt.pause(0.001)
def showStateDistribution(self, all_state_list, colors):
## HACKY - WILL NEED TO CLEAN UP
if self.gcf is None:
self.gcf = plt.gcf()
plt.gca().add_patch(
plt.Circle(self.GOAL, radius=self.GOAL_RADIUS, color='g',
alpha=.4))
plt.xlim([self.XMIN, self.XMAX])
plt.ylim([self.YMIN, self.YMAX])
plt.gca().set_aspect('1')
for state_list, color in zip(all_state_list, colors):
for state in state_list:
plt.gca().add_patch(
plt.Circle(state[:2], radius=0.01, color=color, alpha=.4))
plt.draw()
self.gcf.canvas.draw()
def showDomain(self, a):
s = self.state
# Plot the car and an arrow indicating the direction of accelaration
# Parts of this code was adopted from Jose Antonio Martin H.
# <*****@*****.**> online source code
pos, vel = s
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.figure("Mountain Car Domain")
# plot mountain
mountain_x = np.linspace(self.XMIN, self.XMAX, 1000)
mountain_y = np.sin(3 * mountain_x)
plt.gca(
).fill_between(mountain_x,
min(mountain_y) - self.CAR_HEIGHT * 2,
mountain_y,
color='g')
plt.xlim([self.XMIN - .2, self.XMAX])
plt.ylim(
[min(mountain_y) - self.CAR_HEIGHT * 2,
max(mountain_y) + self.CAR_HEIGHT * 2])
# plot car
self.car = lines.Line2D([], [], linewidth=20, color='b', alpha=.8)
plt.gca().add_line(self.car)
# Goal
plt.plot(self.GOAL, np.sin(3 * self.GOAL), 'yd', markersize=10.0)
plt.axis('off')
plt.gca().set_aspect('1')
self.domain_fig = plt.figure("Mountain Car Domain")
#pos = 0
#a = 0
car_middle_x = pos
car_middle_y = np.sin(3 * pos)
slope = np.arctan(3 * np.cos(3 * pos))
car_back_x = car_middle_x - self.CAR_WIDTH * np.cos(slope) / 2.
car_front_x = car_middle_x + self.CAR_WIDTH * np.cos(slope) / 2.
car_back_y = car_middle_y - self.CAR_WIDTH * np.sin(slope) / 2.
car_front_y = car_middle_y + self.CAR_WIDTH * np.sin(slope) / 2.
self.car.set_data([car_back_x, car_front_x], [car_back_y, car_front_y])
# wheels
# plott(x(1)-0.05,sin(3*(x(1)-0.05))+0.06,'ok','markersize',12,'MarkerFaceColor',[.5 .5 .5]);
# plot(x(1)+0.05,sin(3*(x(1)+0.05))+0.06,'ok','markersize',12,'MarkerFaceColor',[.5 .5 .5]);
# Arrows
if self.actionArrow is not None:
self.actionArrow.remove()
self.actionArrow = None
if self.actions[a] > 0:
self.actionArrow = fromAtoB(
car_front_x, car_front_y,
car_front_x + self.ARROW_LENGTH *
np.cos(slope), car_front_y +
self.ARROW_LENGTH * np.sin(slope),
#car_front_x + self.CAR_WIDTH*cos(slope)/2., car_front_y + self.CAR_WIDTH*sin(slope)/2.+self.CAR_HEIGHT,
'k', "arc3,rad=0",
0, 0, 'simple'
)
if self.actions[a] < 0:
self.actionArrow = fromAtoB(
car_back_x, car_back_y,
car_back_x - self.ARROW_LENGTH *
np.cos(slope), car_back_y -
self.ARROW_LENGTH * np.sin(slope),
#car_front_x + self.CAR_WIDTH*cos(slope)/2., car_front_y + self.CAR_WIDTH*sin(slope)/2.+self.CAR_HEIGHT,
'r', "arc3,rad=0",
0, 0, 'simple'
)
plt.draw()
