def generate_step(self, state, action):
"""
Generates a full StepResult, including the next state, an observation, and the reward
*
* For convenience, the action taken is also included in the result, as well as a flag for
* whether or not the resulting next state is terminal.
:param state: [ OccupancyGrid with only {0, 1}?, Pose of the robot]
:param action: [ Velocity vector ] s.t. Pose + Velocity = Next pose
:return: StepResult
"""
# Separate the occupancygrid into known and unknown area with a mask
occgrid = state.map
unknown = occgrid == -1
image = occgrid.copy()
image[unknown] = occgrid.max() / 2
image = np.uint8(image * 255 / image.max())
next_map_image = self._predict_image_from_unknown(image, unknown)
unknown_area = ((next_map_image < 200) | (next_map_image > 50))
next_map_image[unknown_area] = -1
nest_state = State()
next_state.map = next_map_image
# Predict the next action
velocity = action
next_state.pose = state.pose + velocity
return StepResult(next_state=next_state, action=action)
def generate_step(self, state, action):
if action is None:
print('Tried to generate a step with a null action')
return None
elif type(action) is int:
action = NetworkAction(action)
result = StepResult()
result.next_state, is_legal = self.make_next_state(state, action)
if self.fresh and result.action is not ActionType.SCAN:
self.fresh = False
action = NetworkAction(ActionType.SCAN)
result.action = action.copy()
if result.action.bin_number is ActionType.SCAN:
self.last_action_scan = True
else:
self.last_action_scan = False
result.observation = self.make_observation(action, result.next_state)
result.reward = self.make_reward(state, action, result.next_state, is_legal)
result.is_terminal = self.is_terminal(result.next_state)
#print('action')
#print(result.action.to_string())
#print('observation')
#print(result.observation.to_string())
#print('next state node')
#print(result.next_state.current_node.to_string())
#sys.exit(0)
return result, is_legal
def generate_step(self, state, action):
if action is None:
print("Tried to generate a step with a null action")
return None
elif type(action) is int:
action = RockAction(action)
result = StepResult()
result.next_state, is_legal = self.make_next_state(state, action)
result.action = action.copy()
result.observation = self.make_observation(action, result.next_state)
result.reward = self.make_reward(state, action, result.next_state,
is_legal)
result.is_terminal = self.is_terminal(result.next_state)
return result, is_legal
def generate_step(self, state, action):
# type: (object, object) -> object
if type(action) is int:
action = RobotAction(action)
elif action is None:
logging.error("Tried to generate a step with a null action")
return None
result = StepResult()
result.next_state, is_legal = self.make_next_state(state, action)
result.action = action
result.observation = self.make_observation(action, result.next_state)
result.reward = self.make_reward(state, action, result.next_state,
is_legal)
result.is_terminal = self.is_terminal(result.next_state)
return result, is_legal