def print_measurements(measurements): non_player_measurements = measurements.non_player_agents number_of_agents = len(non_player_measurements) player_measurements = measurements.player_measurements message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), ' message += 'roll {roll:.1f}, pitch {pitch:.1f}, yaw {yaw:.1f}, ' message += '{speed:.2f} m/s, ' message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, ' message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, ' message += '({agents_num:d} agents)' message = message.format( pos_x=player_measurements.transform.location.x, pos_y=player_measurements.transform.location.y, roll=player_measurements.transform.rotation.roll, pitch=player_measurements.transform.rotation.pitch, yaw=player_measurements.transform.rotation.yaw, speed=player_measurements.forward_speed, col_cars=player_measurements.collision_vehicles, col_ped=player_measurements.collision_pedestrians, col_other=player_measurements.collision_other, other_lane=100 * player_measurements.intersection_otherlane, offroad=100 * player_measurements.intersection_offroad, agents_num=number_of_agents) print_over_same_line(message)
def printSteering(correctSpeed, correctThrottle, correctSteer, sy, throttle, steer, direction, predictedSteer): message = '(correct,prediction) Speed: ({cs: .3f}, {ps: .3f}), ' message += 'throttle: ({ct: .3f}, {pt: .3f}), ' message += 'steer: ({cst: .3f}, {pst: .3f}), ' message += 'predicted mean speed: {p1: .3f}, ' message += 'predicted mean yaw rate {p2: .3f}, predicted mean binary direction ({pb1: .3f}, {pb2: .3f}), ' message += ' Steering Prediction:{s1: .3f},{s2: .3f},{s3: .3f},{s4: .3f},{s5: .3f},{s6: .3f}' message = message.format(cs=correctSpeed, ps=sy[0][0][0], ct=correctThrottle, pt=throttle, cst=correctSteer, pst=steer, p1=predictedSteer[0], p2=predictedSteer[1], pb1=direction[0], pb2=direction[1], s1=sy[0][0][1], s2=sy[1][0][1], s3=sy[2][0][1], s4=sy[3][0][1], s5=sy[4][0][1], s6=sy[5][0][1]) print_over_same_line(message)
def print_state(self, step, state, action, reward, epsilon=0): content = "Step %d : epsilong=%f \n" \ "\tState : self_speed=%f(km/h), npc_speed=%f(km/h), rel_angle=%f(degree)\n," \ "\t\trel_x=%f(m), rel_y=%f(m), last_rel_x=%f(m), last_rel_y=%f(m)\n" \ "\tAction : steer=%f, throttle/brake=%f, reward=%f\n" \ % (step, epsilon, state[0] * self.speed_scale, state[1] * self.speed_scale, state[2] * self.relative_angle_scale, state[3] * self.relative_x_scale, state[4] * self.relative_y_scale, state[-2] * self.relative_x_scale, state[-1] * self.relative_y_scale, action[0], action[1], reward) print_over_same_line(content)
def _print_player_measurements(self, player_measurements): message = 'Step {step} ({fps:.1f} FPS): ' message += '{speed:.2f} km/h, ' message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road' message = message.format( step=self._timer.step, fps=self._timer.ticks_per_second(), speed=player_measurements.forward_speed * 3.6, other_lane=100 * player_measurements.intersection_otherlane, offroad=100 * player_measurements.intersection_offroad) print_over_same_line(message)
def print_measurements(measurements): number_of_agents = len(measurements.non_player_agents) player_measurements = measurements.player_measurements message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), ' message += '{speed:.0f} km/h, ' message = message.format( pos_x=player_measurements.transform.location.x, pos_y=player_measurements.transform.location.y, speed=player_measurements.forward_speed * 3.6, # m/s -> km/h ) print_over_same_line(message)
def _print_player_states(self): message = 'location:({x:.1f},{y:.1f},{z:.1f})\tspeed:{speed:.1f} m/s\tsteer:{steer:.3f}\toffroad:{offroad:.0f} %\tmax distance:{dis:.2f} m\tdiff yaw:{yaw:.2f}' message = message.format(speed=self._speed, steer=self._control.steer, offroad=100 * self._offroad, dis=self._error_dis, x=self._location[0], y=self._location[1], z=self._location[2], yaw=self._error_yaw) print_over_same_line(message)
def printTimePerEval(time, ppTime, evTime, imTime, tkTime): message = 'Time per gridmap gen: {td:.3f}, ' message += 'Time per preprocess: {pp:.3f}, ' message += 'Time per eval: {ev:.3f}, ' message += 'Time per image: {im:.3f}, ' message += 'Time per tk: {tk:.3f}' message = message.format(td=time, pp=ppTime, ev=evTime, im=imTime, tk=tkTime) print_over_same_line(message)
def _print_player_measurements_map(self, player_measurements, map_position, lane_orientation): message = 'Step {step} ({fps:.1f} FPS): ' message += 'Map Position ({map_x:.1f},{map_y:.1f}) Lane Orientation ({ori_x:.1f},{ori_y:.1f}) ' message += '{speed:.2f} km/h, ' message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road' message = message.format( map_x=map_position[0], map_y=map_position[1], ori_x=lane_orientation[0], ori_y=lane_orientation[1], step=self._timer.step, fps=self._timer.ticks_per_second(), speed=player_measurements.forward_speed, other_lane=100 * player_measurements.intersection_otherlane, offroad=100 * player_measurements.intersection_offroad) print_over_same_line(message)
def print_measurements(measurements): number_of_agents = len(measurements.non_player_agents) player_measurements = measurements.player_measurements message = 'Vehicle at ({pos_x:.1f}, {pos_y:.1f}), ' message += '{speed:.0f} km/h, ' message += 'Collision: {{vehicles={col_cars:.0f}, pedestrians={col_ped:.0f}, other={col_other:.0f}}}, ' message += '{other_lane:.0f}% other lane, {offroad:.0f}% off-road, ' message += '({agents_num:d} non-player agents in the scene)' message = message.format( pos_x=player_measurements.transform.location.x, pos_y=player_measurements.transform.location.y, speed=player_measurements.forward_speed * 3.6, # m/s -> km/h col_cars=player_measurements.collision_vehicles, col_ped=player_measurements.collision_pedestrians, col_other=player_measurements.collision_other, other_lane=100 * player_measurements.intersection_otherlane, offroad=100 * player_measurements.intersection_offroad, agents_num=number_of_agents) print_over_same_line(message)
def print_message(elapsed_time, point_n, frame): message = ' '.join([ 'Transformations took {:>3.0f} ms.', 'Saved {:>6} points to "{:0>5}.ply".' ]).format(elapsed_time, point_n, frame) print_over_same_line(message)