MC_SAMPLES = 64 # monte carlo samples
N_INITIAL_SAMPLES = 10 # samples to initialize GP
PLOT_RESULTS = False # whether to plot results
SAVE_RESULTS = True # whether to save results
N_WAYPOINTS = 100 # resampled waypoints
SCALE = 0.95 # shrinking factor for track width
LASTIDX = 0 # fixed node at the end DO NOT CHANGE
# define indices for the nodes
NODES = [7, 21, 37, 52, 66, 81, 97, 111, 136, 160, 175, 191, 205, 220, 236, 250, 275, 299, 337, 376]
#####################################################################
# track specific data
params = ORCA()
track = ETHZMobil()
track_width = track.track_width*SCALE
theta = track.theta_track[NODES]
N_DIMS = len(NODES)
n_waypoints = N_DIMS
rand_traj = randomTrajectory(track=track, n_waypoints=n_waypoints)
bounds = torch.tensor([[-track_width/2] * N_DIMS, [track_width/2] * N_DIMS], device=device, dtype=dtype)
def evaluate_y(x_eval, mean_y=None, std_y=None):
""" evaluate true output for given x (distance of nodes from center line)
TODO: parallelize evaluations
"""
if type(x_eval) is torch.Tensor:
N_SAMPLES = 400
THRESHOLD = 0.25
#####################################################################
# load vehicle parameters
params = ORCA(control='pwm')
model = Dynamic(**params)
#####################################################################
# load track
if TRACK_NAME == 'ETHZ':
track = ETHZ(reference='optimal') # ETHZ() or ETHZMobil()
elif TRACK_NAME == 'ETHZMobil':
track = ETHZMobil(reference='optimal') # ETHZ() or ETHZMobil()
#####################################################################
# load inputs used to simulate Dynamic model
data = np.load('../data/DYN-{}-{}.npz'.format(CTYPE, TRACK_NAME))
time = data['time'][:N_SAMPLES + 1]
states = np.zeros([7, N_SAMPLES + 1])
states[:6, :] = data['states'][:6, :N_SAMPLES + 1]
states[6, 1:] = data['inputs'][1, :N_SAMPLES]
inputs = data['inputs'][:, :N_SAMPLES]
inputs[1, 0] = inputs[1, 0]
inputs[1, 1:] = np.diff(inputs[1])
inputs[1] /= SAMPLING_TIME
SAMPLING_TIME = 0.02
TRACK_NAME = 'ETHZMobil'
filepath = 'track_training'
N_SAMPLES = 301
#####################################################################
# load vehicle parameters
params = ORCA(control='pwm')
model = Dynamic(**params)
#####################################################################
# load track
track = ETHZMobil(reference='optimal')
#####################################################################
# load inputs used to simulate Dynamic model
data = np.load('../data/DYN-{}-{}.npz'.format(CTYPE, TRACK_NAME))
time = data['time'][:N_SAMPLES + 1]
states = np.zeros([7, N_SAMPLES + 1])
states[:6, :] = data['states'][:6, :N_SAMPLES + 1]
states[6, 1:] = data['inputs'][1, :N_SAMPLES]
inputs = data['inputs'][:, :N_SAMPLES]
inputs[1, 0] = inputs[1, 0]
inputs[1, 1:] = np.diff(inputs[1])
inputs[1] /= SAMPLING_TIME