def visualize(self, scale, step):
"""
Рисует картинку. Этот и все "приватные" (начинающиеся с _) методы необязательны для разбора.
"""
for i, agent in enumerate(self.agents):
state = self.agent_states[agent]
collisions = self.collisions[agent]
surface = self._agent_surfaces[i]
rays_lengths = self.vision_for(agent)[-agent.rays:]
self._agent_images[i] = [self._draw_ladar(rays_lengths, state, scale),
self._get_agent_image(surface, state, scale)]
if len(self.agents) == 1:
a = self.agents[0]
draw_text("Step: %i" % step, self._info_surface, scale, self.size,
text_color=white, bg_color=black, tlpoint=(self._info_surface.get_width() - 100, self._info_surface.get_height() - 30))
draw_text("Reward: %.3f" % a.reward_history[-1], self._info_surface, scale, self.size,
text_color=white, bg_color=black)
steer, acc = a.chosen_actions_history[-1]
state = self.agent_states[a]
draw_text("Action: steer.: %.2f, accel: %.2f" % (steer, acc), self._info_surface, scale,
self.size, text_color=white, bg_color=black, tlpoint=(self._info_surface.get_width()/2-200, self._info_surface.get_height()/2-50))
draw_text("Inputs: |v|=%.2f, sin(angle): %.2f" % (
abs(state.velocity), np.sin(angle(-state.position, state.heading))),
self._info_surface, scale,
self.size, text_color=white, bg_color=black, tlpoint=(self._info_surface.get_width()/2-200, self._info_surface.get_height()/2))
draw_text("Circle: %.2f, collisions: %i" % (self.circles[a]/2/pi, collisions), self._info_surface, scale,
self.size, text_color=white, bg_color=black,
tlpoint=(self._info_surface.get_width() / 2 - 200, self._info_surface.get_height() / 2 + 50))
def visualize(self, scale, step):
"""
Рисует картинку. Этот и все "приватные" (начинающиеся с _) методы необязательны для разбора.
"""
for i, agent in enumerate(self.agents):
state = self.agent_states[agent]
collisions = self.collisions[agent]
surface = self._agent_surfaces[i]
rays_lengths = self.vision_for(agent)[-agent.rays:]
self._agent_images[i] = [
self._draw_ladar(rays_lengths, state, scale),
self._get_agent_image(surface, state, scale)
]
if len(self.agents) == 1:
a = self.agents[0]
draw_text("Step: %i" % step,
self._info_surface,
scale,
self.size,
text_color=white,
bg_color=black,
tlpoint=(self._info_surface.get_width() - 100,
self._info_surface.get_height() - 30))
draw_text("Reward: %.3f" % a.reward_history[-1],
self._info_surface,
scale,
self.size,
text_color=white,
bg_color=black)
steer, acc = a.chosen_actions_history[-1]
state = self.agent_states[a]
draw_text("Action: steer.: %.2f, accel: %.2f" % (steer, acc),
self._info_surface,
scale,
self.size,
text_color=white,
bg_color=black,
tlpoint=(self._info_surface.get_width() / 2 - 200,
self._info_surface.get_height() / 2 - 50))
draw_text("Inputs: |v|=%.2f, sin(angle): %.2f" %
(abs(state.velocity),
np.sin(angle(-state.position, state.heading))),
self._info_surface,
scale,
self.size,
text_color=white,
bg_color=black,
tlpoint=(self._info_surface.get_width() / 2 - 200,
self._info_surface.get_height() / 2))
draw_text("Circle: %.2f, collisions: %i" %
(self.circles[a] / 2 / pi, collisions),
self._info_surface,
scale,
self.size,
text_color=white,
bg_color=black,
tlpoint=(self._info_surface.get_width() / 2 - 200,
self._info_surface.get_height() / 2 + 50))
def _draw_ladar(self, sensors, state, scale, show_labels=False):
surface = pygame.display.get_surface().copy()
surface.fill(white)
surface.set_colorkey(white)
start_pos = to_px(state.position, scale, surface.get_size())
delta = pi / (len(sensors) - 1)
ray = phase(state.heading) - pi / 2
for s in sensors:
end_pos = to_px(
rect(s, ray) + state.position, scale, surface.get_size())
pygame.draw.line(surface, (0, 255, 0), start_pos, end_pos, 2)
if show_labels:
draw_text(str(round(s, 2)),
surface,
1.0, (100, 50),
tlpoint=(end_pos, end_pos))
ray += delta
rectangle = surface.get_rect()
rectangle.topleft = (0, 0)
return surface, rectangle
def visualize(self, scale):
"""
Рисует картинку. Этот и все "приватные" (начинающиеся с _) методы необязательны для разбора.
"""
for i, agent in enumerate(self.agents):
state = self.agent_states[agent]
surface = self._agent_surfaces[i]
rays_lengths = self.vision_for(agent)[-agent.rays:]
self._agent_images[i] = [self._draw_ladar(rays_lengths, state, scale),
self._get_agent_image(surface, state, scale)]
if len(self.agents) == 1:
a = self.agents[0]
draw_text("Reward: %.3f, Q Value: %.3f" % (self.learner.last_reward, self.learner.last_qvalue), self._info_surface, scale, self.size,
text_color=white, bg_color=black)
try:
steer, acc = self.learner.history[-1].action
except IndexError:
steer = 0
acc = 0
state = self.agent_states[a]
draw_text("Action: steer.: %.2f, accel: %.2f" % (steer, acc), self._info_surface, scale,
self.size, text_color=white, bg_color=black, tlpoint=(self._info_surface.get_width() - 500, 10))
draw_text("Inputs: |v|=%.2f, sin(angle): %.2f, circle: %.2f" % (
abs(state.velocity), np.sin(angle(-state.position, state.heading)), self.circles[a]),
self._info_surface, scale,
self.size, text_color=white, bg_color=black, tlpoint=(self._info_surface.get_width() - 500, 50))
