def __init__(self, states_file, labels_file, policy_file, n_waypoints, current_waypoint_val):
Mdp.__init__(self)
##list of attributes of an MDP object
#self.n_state_vars=0 #numer of variables used to defined the mdp state
#self.state_vars=[] #names of the different variables used to define the state
#self.state_vars_range={} #ranges for the state vars
#self.initial_state={} #dict indexed by the state vars
#self.n_props=0 #number of propositional labels
#self.props=[] #list of propositional label names
#self.props_def={} #dict of MdpPropDef instances. keys are the propositional labels names
#self.n_actions=0 #number of actions
#self.actions=[] #list of action names
#self.transitions=[] #list of MdpTransitionDef instances
#self.current_policy=[]
#self.reward_names={}
self.n_waypoints = n_waypoints
self.n_da_states=0
self.final_automaton_state=0
self.flat_states = []
self.n_flat_states = 0
self.read_states(states_file, current_waypoint_val)
self.read_transitions(policy_file)
self.initial_flat_state = self.get_initial_state(labels_file)
self.current_state = self.initial_flat_state
def __init__(self,
states_file,
labels_file,
#automaton_file,
policy_file,
robot_init_x,
robot_init_y,
human_init_x,
human_init_y,
n_rows,
n_columns,
n_time_steps):
Mdp.__init__(self)
##list of attributes of an MDP object
#self.n_state_vars=0 #numer of variables used to defined the mdp state
#self.state_vars=[] #names of the different variables used to define the state
#self.state_vars_range={} #ranges for the state vars
#self.initial_state={} #dict indexed by the state vars
#self.n_props=0 #number of propositional labels
#self.props=[] #list of propositional label names
#self.props_def={} #dict of MdpPropDef instances. keys are the propositional labels names
#self.n_actions=0 #number of actions
#self.actions=[] #list of action names
#self.transitions=[] #list of MdpTransitionDef instances
#self.current_policy=[]
#self.reward_names={}
#self.state_vars=['_da', 'robot_x', 'robot_y', 'human_x', 'human_y','time_step']
self.state_vars_range['robot_x']=[1, n_columns]
self.state_vars_range['robot_y']=[1, n_rows]
self.state_vars_range['human_x']=[0, n_columns]
self.state_vars_range['human_y']=[0, n_rows]
self.state_vars_range['time_step']=[0, n_time_steps-1]
self.initial_state['robot_x']=robot_init_x
self.initial_state['robot_y']=robot_init_y
self.initial_state['human_x']=human_init_x
self.initial_state['human_y']=human_init_y
self.initial_state['time_step']=0
self.n_da_states=0
self.final_automaton_state=0
self.flat_states = []
self.n_flat_states = 0
self.read_states(states_file)
self.read_transitions(policy_file)
self.initial_flat_state = self.get_initial_state(labels_file)
print(self.initial_state)
self.current_state = self.initial_flat_state
def __init__(self, human_mc_file, robot_init_x, robot_init_y, n_rows, n_columns, n_time_steps):
Mdp.__init__(self)
time_steps_model=[None for i in range(0,n_time_steps)]
prob_out_of_map=[]
for i in range(0,n_time_steps):
time_steps_model[i]=[None for j in range(0,n_rows)]
for j in range(0,n_rows):
time_steps_model[i][j]=[0 for k in range(0,n_columns)]
stream=open(human_mc_file,'r')
row=0
for line in stream:
line=line.split(' ')
for time_step in range(0,n_time_steps):
for column in range(0,n_columns):
time_steps_model[time_step][n_rows-row-1][column]=float(line[time_step*n_columns+column])
row+=1
stream.close()
for time_step in time_steps_model:
total_prob=0
for row in time_step:
for value in row:
total_prob+=value
prob_out_of_map.append(round(1-total_prob,3))
print prob_out_of_map
self.state_vars=['robot_x', 'robot_y', 'human_x', 'human_y','time_step']
self.state_vars_range['robot_x']=[1, n_columns]
self.state_vars_range['robot_y']=[1, n_rows]
self.state_vars_range['human_x']=[0, n_columns]
self.state_vars_range['human_y']=[0, n_rows]
self.state_vars_range['time_step']=[0, n_time_steps-1]
initial_time_step=time_steps_model[0]
found_initial_state=False
for row in range(0,n_rows):
for column in range(0,n_columns):
if initial_time_step[row][column]==1:
found_initial_state=True
break
if found_initial_state:
break
if found_initial_state:
self.initial_state['human_x']=column+1
self.initial_state['human_y']=row+1
else:
rospy.logerr("Error finding human initial state")
return
self.initial_state['robot_x']=robot_init_x
self.initial_state['robot_y']=robot_init_y
self.initial_state['time_step']=0
self.n_props=1
self.props=['close_to_human']
self.props_def['close_to_human']=MdpPropDef(name='close_to_human',
conds='(human_x>0) & (robot_x>human_x?robot_x-human_x<2:human_x-robot_x<2) & (robot_y>human_y?robot_y-human_y<2:human_y-robot_y<2)')
self.n_actions=5
self.actions=['move_up', 'move_left', 'move_right', 'wait']
self.reward_names=['time']
for t in range(0,n_time_steps-1):
current_human_probs=time_steps_model[t+1]
human_prob_post_conds=[]
for row in range(0,n_rows):
for column in range(0, n_columns):
prob = current_human_probs[row][column]
if prob > 0:
human_prob_post_conds.append([prob, '(human_x\'=' + str(column+1) + ') & (human_y\'=' + str(row+1) + ') & (time_step\'=' + str(t+1) + ')'])
if prob_out_of_map[t+1] > 0:
human_prob_post_conds.append([prob_out_of_map[t+1], '(human_x\'=0) & (human_y\'=0) & (time_step\'=' + str(t+1) + ')'])
action='move_up'
pre_conds='(robot_y>1) & (time_step=' + str(t) + ')'
prob_post_conds=[list(element) for element in human_prob_post_conds]
for post_cond in prob_post_conds:
post_cond[1]+= ' & ' + '(robot_y\'=robot_y-1)'
rewards={'time':1}
self.transitions.append(MdpTransitionDef(action_name=action,
pre_conds=pre_conds,
prob_post_conds=prob_post_conds,
rewards=rewards,
exec_count=0))
action='move_down'
pre_conds='(robot_y<' + str(n_rows) + ') & (time_step=' + str(t) + ')'
prob_post_conds=[list(element) for element in human_prob_post_conds]
for post_cond in prob_post_conds:
post_cond[1]+= ' & ' + '(robot_y\'=robot_y+1)'
rewards={'time':1}
self.transitions.append(MdpTransitionDef(action_name=action,
pre_conds=pre_conds,
prob_post_conds=prob_post_conds,
rewards=rewards,
exec_count=0))
action='move_left'
pre_conds='(robot_x>1) & (time_step=' + str(t) + ')'
prob_post_conds=[list(element) for element in human_prob_post_conds]
for post_cond in prob_post_conds:
post_cond[1]+= ' & ' + '(robot_x\'=robot_x-1)'
rewards={'time':1}
self.transitions.append(MdpTransitionDef(action_name=action,
pre_conds=pre_conds,
prob_post_conds=prob_post_conds,
rewards=rewards,
exec_count=0))
action='move_right'
pre_conds='(robot_x<' + str(n_columns) + ') & (time_step=' + str(t) + ')'
prob_post_conds=[list(element) for element in human_prob_post_conds]
for post_cond in prob_post_conds:
post_cond[1]+= ' & ' + '(robot_x\'=robot_x+1)'
rewards={'time':1}
self.transitions.append(MdpTransitionDef(action_name=action,
pre_conds=pre_conds,
prob_post_conds=prob_post_conds,
rewards=rewards,
exec_count=0))
action='wait'
pre_conds='(time_step=' + str(t) + ')'
prob_post_conds=list(human_prob_post_conds)
rewards={'time':0.99}
self.transitions.append(MdpTransitionDef(action_name=action,
pre_conds=pre_conds,
prob_post_conds=prob_post_conds,
rewards=rewards,
exec_count=0))
