def make_world(self):
world = World()
world.num_UAVs = 2
world.num_landmarks = 30 # 50
world.UAVs = [UAV() for i in range(world.num_UAVs)]
world.association = []
world.probability_LoS = 1 / (1 + A)
for i, uav in enumerate(world.UAVs):
uav.name = 'UAV %d'.format(i)
uav.id = i
uav.size = 10
uav.state.energy = Energy
# # 列表形式的landmarks
# world.landmarks = [Landmark() for i in range(world.num_landmarks)]
# for i, landmark in enumerate(world.landmarks):
# landmark.name = 'landmark %d'.format(i)
# landmark.id = i
# landmark.size = 10
# 字典形式的landmarks
for i in range(world.num_landmarks):
dic = {str(i): Landmark()}
world.landmarks.update(dic)
for i, landmark in enumerate(world.landmarks.values()):
landmark.name = 'landmark %d'.format(i)
landmark.id = i
landmark.size = 5
self.reset_world(
world) # 这里不reset会导致MultiUAVEnv中init中获得observation维度报错
return world
