def test_rotated_vectors(self):
import keepAway
keepAwayWorld = keepAway.keepAway(0)
#intialize agent to position 25,25 with no noise/error, as a keeper, with (357/2, 550/2) as center of field,
#and 2 as agent speed, and 3 as ball speed
Agent = agent(keepAwayWorld,(25, 25), 0.0, "keeper", (357/2, 550/2), 2, 3)
cos5 = math.cos(5.0 * math.pi / 180) #cosine of 3 degress. angle needs to be in radians
#Agent.receiveListOfOtherPlayers(self.keeperArray, self.takerArray, i)
testBall = ball.ball((25,25), 3, True)
Agent.receiveBallReference(testBall)
v = kUtil.getVector((25,25), (30, 30)) #a vector whose angle is 45 degrees
answer = Agent.__getRotatedVectors(v, cos5)
correctAnswer1 = [((math.cos(50 * math.pi / 180)), (math.sin(50 * math.pi/180))),
((math.cos(40 * math.pi / 180)), (math.sin(40 * math.pi/180)))]
"""
print "answer"
print answer
print "correct"
print correctAnswer1
"""
for i in range(len(correctAnswer1)):
for j in range(len(correctAnswer1[i])):
str1 = "failed at: i = %d "%i
str2 = "j = %d" %j
strend = str1 + str2
self.assertAlmostEqual(answer[i][j], correctAnswer1[i][j], msg=strend)
def test_getStateVars(self):
# self, worldRef, pos, sigma, agentType, trueBallPos, maxPlayerSpeed, maxBallSpeed, inPossession = False
import keepAway
keepAwayWorld = keepAway.keepAway()
ballPos = (0, 0)
center = (0, 0)
simulatedError = 0.01
a1 = agent.agent(
keepAwayWorld,
(10, 0),
simulatedError,
"Keeper",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
a2 = agent.agent(
keepAwayWorld,
(0, 0),
simulatedError,
"Keeper",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
a3 = agent.agent(
keepAwayWorld,
(0, 5),
simulatedError,
"Keeper",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
keepers = [a1, a2, a3]
t1 = agent.agent(
keepAwayWorld,
(5, 5),
simulatedError,
"Taker",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
t2 = agent.agent(
keepAwayWorld,
(5, 0),
simulatedError,
"Taker",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
takers = [t1, t2]
testOut = getStateVarsKeepers(keepers, takers, center)
actualOut = [0, 5, 10, 5, math.sqrt(50), 5, 10, 5, math.sqrt(50), 5, 5, math.cos(math.pi / 4.0), 1]
for i in range(len(testOut)):
self.assertAlmostEqual(testOut[i], actualOut[i], 1)
def testCosinesOfInterest(self):
import keepAway
keepAwayWorld = keepAway.keepAway()
Agent = agent(keepAwayWorld,(25, 25), 0.0, "keeper", (357/2, 550/2), 2, 3)
anglesToTest = list(range(5, Agent.terminalPassAngle, Agent.passAngleGranularity))
print("these are the angls to test:")
print(anglesToTest)
for i in range(len(Agent.cosinesOfInterest)):
self.assertAlmostEqual(Agent.cosinesOfInterest[i], math.cos(anglesToTest[i] * math.pi / 180) )
def testGetGridAsList(self):
import keepAway
world = keepAway.keepAway(0)
e = birdsEyeView()
grid = e.getBirdsEyeView(world.keeperArray, world.takerArray, world.get_display_width(), world.get_display_height())
listGrid = e.getBirdsEyeViewAsList(world.keeperArray, world.takerArray)
for i in range(len(grid)):
for j in range(len(grid[i])):
self.assertEqual(grid[i][j], listGrid[i * len(grid[i]) + j])
def test_get_open_initial_points(self):
import keepAway
keepAwayWorld = keepAway.keepAway()
#intialize agent to position 25,25 with no noise/error, as a keeper, with (357/2, 550/2) as center of field,
#and 2 as agent speed, and 3 as ball speed
testAgent = agent(keepAwayWorld,(25, 25), 0.0, "keeper", (357/2, 550/2), 2, 3)
#print "display height: ", testAgent.worldRef.get_get_display_height()()
rows = [53.55, 103.53, 153.51, 203.49, 253.47]
cols = [82.5, 159.5, 236.5, 313.5, 390.5]
testPoints = testAgent.getOpenPoints
for i in range(len(rows)):
for j in range(len(cols)):
testPoint = testPoints[i * len(rows) + j]
self.assertAlmostEqual(testPoint[0], rows[i])
self.assertAlmostEqual(testPoint[1], cols[j])
def __init__(self):
world = keepAway.keepAway()
mode =world.game_intro()
if (mode == "q_learning"):
#q learning mode
print("execute q learning")
elif (mode == "sarsa"):
#sarsa mode
print("execute sarsa")
elif (mode == "hand_coded"):
#sarsa mode
#print("execute hand coded")
print("execute hand coded")
elif (mode == "manual"):
print("execute manual debugging mode")
world.gameLoop(mode)
world.pause("game over. Final Score: ", world.keeperScore)
def __init__(self):
world = keepAway.keepAway(inputAgentSigmaNoise = 0.0000001, alreadyTrained = True, bevCustomTileSize = 23)
mode =world.game_intro()
if (mode == "hyperNEAT"):
#hyperNEAT mode
print("execute hyperNEAT")
elif(mode == "novelty"):
#novelty search mode
print("execute novelty search")
elif (mode == "NEAT"):
#NEAT mode
print("execute NEAT")
elif (mode == "hand_coded"):
#hand coded mode
print("execute hand coded")
elif (mode == "manual"):
print("execute manual debugging mode")
world.gameLoop(mode, turnOnGrid = True, prettyGrid = False)
world.pause("game over. Final Score: ", world.keeperScore)
def test_getStateVars2(self):
import keepAway
keepAwayWorld = keepAway.keepAway()
simulatedError = 0.01
simWidth = 550.0
simHeight = 357.0
ballPos = (1 / 3 * simWidth, 1 / 6 * simHeight)
c = (simWidth / 2.0, simHeight / 2.0)
a1 = agent.agent(
keepAwayWorld,
(1 / 3 * simWidth, 1 / 6 * simHeight),
simulatedError,
"Keeper",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
a2 = agent.agent(
keepAwayWorld,
(2 / 3 * simWidth, 1 / 7 * simHeight),
simulatedError,
"Keeper",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
a3 = agent.agent(
keepAwayWorld,
(2 / 5 * simWidth, 6 / 7 * simHeight),
simulatedError,
"Keeper",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
keepers = [a1, a2, a3]
t1 = agent.agent(
keepAwayWorld,
(1 / 2 * simWidth, 5 / 12 * simHeight),
simulatedError,
"Taker",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
t2 = agent.agent(
keepAwayWorld,
(2 / 5 * simWidth, 7 / 12 * simHeight),
simulatedError,
"Taker",
ballPos,
keepAwayWorld.maxPlayerSpeed,
keepAwayWorld.maxBallSpeed,
)
takers = [t1, t2]
testOut = getStateVarsKeepers(keepers, takers, c)
actualOut = [
kUtil.getDist((550 / 3, 59.5), c),
kUtil.getDist((550 / 3 * 2, 51), c),
kUtil.getDist((220, 306), c),
kUtil.getDist((275, 148.75), c),
kUtil.getDist((220, 208.25), c),
kUtil.getDist((550 / 3, 59.5), (550 / 3 * 2, 51)),
kUtil.getDist((550 / 3, 59.5), (220, 306)),
kUtil.getDist((550 / 3, 59.5), (275, 148.75)),
kUtil.getDist((550 / 3, 59.5), (220, 208.25)),
min(kUtil.getDist((550 / 3 * 2, 51), (220, 208.25)), kUtil.getDist((550 / 3 * 2, 51), (275, 148.75))),
min(kUtil.getDist((220, 306), (220, 208.25)), kUtil.getDist((220, 306), (275, 148.75))),
max(
kUtil.cosTheta((550 / 3 * 2, 51), (550 / 3, 59.5), (275, 148.75)),
kUtil.cosTheta((550 / 3 * 2, 51), (550 / 3, 59.5), (220, 208.25)),
),
max(
kUtil.cosTheta((220, 306), (550 / 3, 59.5), (275, 148.75)),
kUtil.cosTheta((220, 306), (550 / 3, 59.5), (220, 208.25)),
),
]
for i in range(len(testOut)):
self.assertAlmostEqual(testOut[i], actualOut[i], 1, "Failed on index: %d" % i)
import keepAway
world = keepAway.keepAway()
mode =world.game_intro()
if (mode == "q_learning"):
#q learning mode
print("execute q learning")
elif (mode == "sarsa"):
#sarsa mode
print("execute sarsa")
elif (mode == "hand_coded"):
#sarsa mode
print("execute hand coded")
elif (mode == "manual"):
print("execute manual debugging mode")
world.gameLoop(mode)
world.pause("game over. Final Score: ", world.keeperScore)
