def __init__(self, thread_index):
Environment.__init__(self)
self.thread_index = thread_index
self.max_step = 100
self.control_points_per_step = 5
self.mean_seconds_per_step = 0.1 # in average, a step every n seconds
self.horizon_distance = 1 # meters
self.max_distance_to_path = 0.1 # meters
# obstacles related stuff
self.max_obstacle_count = 3
self.min_obstacle_radius = 0.15 # meters
self.max_obstacle_radius = 0.45 # meters
# information about speed parameters: http://www.ijtte.com/uploads/2012-10-01/5ebd8343-9b9c-b1d4IJTTE%20vol2%20no3%20%287%29.pdf
self.min_speed = 0.1 # m/s
self.max_speed = 1.4 # m/s
self.speed_lower_limit = 0.7 # m/s # used together with max_speed to get the random speed upper limit
self.max_speed_noise = 0.25 # m/s
# the fastest car has max_acceleration 9.25 m/s (https://en.wikipedia.org/wiki/List_of_fastest_production_cars_by_acceleration)
# the slowest car has max_acceleration 0.7 m/s (http://automdb.com/max_acceleration)
self.max_acceleration = 0.7 # m/s
self.max_steering_degree = 30
self.max_steering_noise_degree = 2
self.max_steering_angle = convert_degree_to_radiant(
self.max_steering_degree)
self.max_steering_noise_angle = convert_degree_to_radiant(
self.max_steering_noise_degree)
# splines related stuff
self.spline_number = 2
self.control_points_per_spline = 50
# evaluator stuff
self.episodes = deque()
# shapes
self.state_shape = self.get_state_shape()
self.action_shape = self.get_action_shape()
def __init__(self, env_name, process_idx):
Environment.__init__(self)
self.last_state = []
self.last_action = []
self.last_reward = []
self.env = env_vrep.Simu_env(20000 + process_idx)
self.env.connect_vrep()
# self.conn, child_conn = Pipe()
# self.proc = Process(target=worker, args=(child_conn, env_name, process_idx))
# self.proc.start()
# self.conn.recv()
self.reset()
def __init__(self):
Environment.__init__(self)
