def _create_unique_random_target(start_pos,x_bound,y_bound, z_bound,r_bound,existing_targets):
target_center = Coordinate(np.random.uniform(x_bound[0],x_bound[1]),(np.random.uniform(y_bound[0],y_bound[1])),(np.random.uniform(z_bound[0],z_bound[1])))
target_radius = np.random.uniform(r_bound[0],r_bound[1])
target_candidate = TargetBall(target_center.x,target_center.y,target_center.z,target_radius)
for target in existing_targets:
if _is_overlapping(target,target_candidate) or _is_within(start_pos,target_center,target_radius):
target_candidate =_create_unique_random_target(start_pos,x_bound,y_bound,z_bound,r_bound,existing_targets)
break
return target_candidate
def read_env_from_file(filename,line_number):
targets = []
hazards = []
file = open(filename)
environment_line = ""
# We iterate to the desired line to avoid loading all lines into memory
for i, line in enumerate(file):
if i == line_number:
environment_line = line
break
target_string = environment_line.split("-")[0]
hazard_string = environment_line.split("-")[1]
target_list_string = target_string.split(";")
hazard_list_string = hazard_string.split(";")
for t in target_list_string:
# "10,10,5"
l = t.split(",")
try:
x = int(l[0])
y = int(l[1])
r = int(l[2])
except Exception:
raise ValueError("Coordinates in file are not numbers!")
target_ball = TargetBall(x,y,r)
targets.append(target_ball)
for h in hazard_list_string:
# "10,10,5"
l = h.split(",")
try:
x = int(l[0])
y = int(l[1])
r = int(l[2])
except Exception:
raise ValueError("Coordinates in file are not numbers!")
hazard_ball = Hazard(x,y,r)
hazards.append(hazard_ball)
return targets, hazards
def _read_env_from_file(filename,line_number):
if line_number == 0:
print("Cannot read environments specification from line 0 as it is used for documentation")
print("Line number must be 1 or higher!")
sys.exit()
targets = []
hazards = []
file = open(filename)
environment_line = ""
# We iterate to the desired line to avoid loading all lines into memory
for i, line in enumerate(file):
if i == line_number:
environment_line = line
break
target_string = environment_line.split("/")[0]
target_list_string = target_string.split(";")
for t in target_list_string:
# "10,10,5"
l = t.split(",")
try:
x =l[0]
y = l[1]
z = l[2]
r = l[3]
x = int(x)
y = int(y)
z = int(z)
r = int(r)
except Exception:
print(target_string)
print(target_list_string)
print("t;",t)
print("l;",l)
raise ValueError("Coordinates in file are not numbers!")
target_ball = TargetBall(x,y,z,r)
targets.append(target_ball)
try:
hazard_string = environment_line.split("/")[1]
hazard_list_string = hazard_string.split(";")
for h in hazard_list_string:
# "10,10,5"
l = h.split(",")
try:
x = l[0]
y = l[1]
z = l[2]
r = l[3]
x = int(x)
y = int(y)
z = int(z)
r = int(r)
except Exception:
raise ValueError("Coordinates in file are not numbers!")
hazard_ball = Hazard(x,y,z,r)
hazards.append(hazard_ball)
except Exception:
hazards = []
return targets, hazards
TARGET_BOUND_Y = [0.1*SCREEN_Y,0.6*SCREEN_Y]
TARGET_BOUND_Z = [0.5*SCREEN_Z,0.9*SCREEN_Z]
TARGET_RADII_BOUND = [20,50]
TARGET_BOUNDS = [TARGET_BOUND_X,TARGET_BOUND_Y,TARGET_BOUND_Z,TARGET_RADII_BOUND]
HAZARD_BOUND_X = [0,SCREEN_X]
HAZARD_BOUND_Y = [0,SCREEN_Y]
HAZARD_BOUND_Z = [0,SCREEN_Z]
HAZARD_RADII_BOUND = [20,50]
HAZARD_BOUNDS = [HAZARD_BOUND_X,HAZARD_BOUND_Y,HAZARD_BOUND_Z,HAZARD_RADII_BOUND]
targets = []
for _ in range(4):
target_center = Coordinate(np.random.uniform(TARGET_BOUND_X[0],TARGET_BOUND_X[1]),np.random.uniform(TARGET_BOUND_Y[0],TARGET_BOUND_Y[1]),np.random.uniform(TARGET_BOUND_Z[0],TARGET_BOUND_Z[1]))
target_radius = np.random.uniform(TARGET_RADII_BOUND[0],TARGET_RADII_BOUND[1])
target_candidate = TargetBall(target_center.x,target_center.y,target_center.z,target_radius)
targets.append(target_candidate)
<<<<<<< HEAD:gym-drill/gym_drill/envs/ObservationSpace.py
hazards = []
=======
hazards = []
# Additional data
DIAGONAL = np.sqrt(SCREEN_X**2 + SCREEN_Y**2)
TARGET_DISTANCE_BOUND = [0,DIAGONAL]
RELATIVE_ANGLE_BOUND = [-np.pi,np.pi]
EXTRA_DATA_BOUNDS = [TARGET_DISTANCE_BOUND,RELATIVE_ANGLE_BOUND] # [Distance, angle between current direction and target direction]
>>>>>>> 2914a7ab17b685790fbbcc82ad796d416a700bb1:2D-version/gym-drill/gym_drill/envs/ObservationSpace.py
for _ in range(4):