def observe_agents(other_agent):
''' fill in information communicated/observed between agents
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_agent, MortalAgent) and other_agent.terminated:
is_terminated = 1
# relative speed and position of other agent
# dx = dy = dvx = dvy = 0.
# if not is_terminated:
dx, dy = delta_pos(other_agent, agent)
dvx, dvy = delta_vel(other_agent, agent)
# get local reward function at position of other agent
other_landmark_sensor_reading = 0.0
for lm in world.landmarks:
other_landmark_sensor_reading += lm.reward_fn.get_value(
*other_agent.state.p_pos)
ag_obs = [
is_terminated, dx, dy, dvx, dvy, other_landmark_sensor_reading
]
assert (len(ag_obs) == _AGENT_OBSERVATION_LEN)
return ag_obs
def communications_observed(other_comm_node):
''' Communication between agents is just the conductance
Notes:
- inverse of comm resistance (i.e. conductance) used so that we can use
zero for out of range comms
- noisy measurement of heading
- TODO: observation of failures
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_comm_node,
MortalAgent) and other_comm_node.terminated:
is_terminated = 1
dx = dy = dvx = dvy = 0.
if not is_terminated:
dx, dy = delta_pos(other_comm_node, agent)
dvx, dvy = delta_vel(other_comm_node, agent)
comms = [is_terminated, dx, dy, dvx, dvy]
# set comms to zero if out for range
# if distance(agent, other_comm_node) > agent.max_observation_distance:
if not check_2way_communicability(agent, other_comm_node):
comms = [0] * len(comms)
return comms
def communications_observed(other_comm_node):
''' Communication between agents is just the conductance
Notes:
- inverse of comm resistance (i.e. conductance) used so that we can use
zero for out of range comms
- noisy measurement of heading
- TODO: observation of failures
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_comm_node,
MortalAgent) and other_comm_node.terminated:
is_terminated = 1
dx = dy = dvx = dvy = 0.
if not is_terminated:
dx, dy = delta_pos(other_comm_node, agent)
dvx, dvy = delta_vel(other_comm_node, agent)
comms = [is_terminated, dx, dy, dvx, dvy]
# dx_noisy = dx + np.random.normal(0.0, 0.01)
# dy_noisy = dy + np.random.normal(0.0, 0.01)
# comms = [dx_noisy, dy_noisy]
# heading = np.arctan2(dy,dx) + np.random.normal(0.0, 0.1)
# conductance = 1.0/self._calculate_resistance(agent, other_comm_node, world)
# comms = [heading, conductance]
# set comms to zero if out for range
# if distance(agent, other_comm_node) > agent.max_observation_distance:
# comms = [0] * len(comms)
return comms
def observe_agents(other_agent):
''' fill in information communicated/observed between agents
'''
# check if node is terminated
is_terminated = 0
if isinstance(other_agent, MortalAgent) and other_agent.terminated:
is_terminated = 1
dx = dy = dvx = dvy = 0.
if not is_terminated:
dx, dy = delta_pos(other_agent, agent)
dvx, dvy = delta_vel(other_agent, agent)
ag_obs = [is_terminated, dx, dy, dvx, dvy]
assert (len(ag_obs) == _AGENT_OBSERVATION_LEN)
return ag_obs