def test_kernel_sss(vehicle_name):
env = TrackSim(sim_conf)
planner = EndVehicleTest(vehicle_name, sim_conf)
kernel = TrackKernel(sim_conf)
safety_planner = Supervisor(planner, kernel, sim_conf)
test_kernel_vehicle(env, safety_planner, False, test_n, wait=False)
def train_kenel(agent_name):
env = TrackSim(sim_conf)
planner = EndVehicleTrain(agent_name, sim_conf)
kernel = TrackKernel(sim_conf)
safety_planner = LearningSupervisor(planner, kernel, sim_conf)
train_kernel_vehicle(env, safety_planner, sim_conf, show=False)
def test_rando_kernel():
conf = lib.load_config_namespace(config_file)
planner = RandomPlanner(conf)
kernel = TrackKernel(conf)
safety_planner = Supervisor(planner, kernel, conf)
run_kernel_test(conf, safety_planner, 5, obstacles=0)
def test_kernel_pp():
conf = lib.load_config_namespace(config_file)
planner = PurePursuit(conf)
kernel = TrackKernel(conf)
safety_planner = Supervisor(planner, kernel, conf)
run_kernel_test(conf, safety_planner, 5, obstacles=0)
def rando_test():
conf = load_conf("track_kernel")
planner = RandomPlanner(conf)
kernel = TrackKernel(conf)
safety_planner = Supervisor(planner, kernel, conf)
run_kernel_test(conf, safety_planner, 5, obstacles=0)
def baseline_vs_kernel(baseline_name, kernel_name):
test = TestVehicles(sim_conf, eval_name)
env = TrackSim(sim_conf)
baseline = EndVehicleTest(baseline_name, sim_conf)
test.add_vehicle(baseline)
planner = EndVehicleTest(kernel_name, sim_conf)
kernel = TrackKernel(sim_conf)
safety_planner = Supervisor(planner, kernel, sim_conf)
test.add_vehicle(safety_planner)
test.run_free_eval(env, test_n, wait=False)
def full_comparison(baseline_name, kernel_name):
test = TestVehicles(sim_conf, eval_name)
env = TrackSim(sim_conf)
baseline = EndVehicleTest(baseline_name, sim_conf)
test.add_vehicle(baseline)
planner = EndVehicleTest(kernel_name, sim_conf)
kernel = TrackKernel(sim_conf)
safety_planner = Supervisor(planner, kernel, sim_conf)
test.add_vehicle(safety_planner)
vehicle = ForestFGM()
test.add_vehicle(vehicle)
vehicle = Oracle(sim_conf)
test.add_vehicle(vehicle)
test.run_free_eval(env, test_n, wait=False)