def __init__(self, start_wp=None, end_wp=None, wp_width=5, **kwargs):
# FCF59B
Shape.__init__(self, color=(0xFF, 0xFF, 0xFF), **kwargs)
if start_wp is not None and end_wp is not None:
self.start_waypoint = start_wp
self.end_waypoint = end_wp
else:
self.start_waypoint = (self.points[2] + self.points[3]) / 2
self.end_waypoint = (self.points[0] + self.points[1]) / 2
self.start_waypoint = Waypoint(
self.start_waypoint[0],
self.start_waypoint[1],
ydim=wp_width,
owner=self,
angle=self.angle,
)
self.end_waypoint = Waypoint(
self.end_waypoint[0],
self.end_waypoint[1],
ydim=wp_width,
owner=self,
angle=self.angle,
)
self.start_waypoint.nxt = [self.end_waypoint]
def __init__(self, max_vel=2, vel=0, planning_depth=2, **kwargs):
Shape.__init__(self, color=(255, 250, 150), xdim=20, ydim=20, **kwargs)
self.max_vel = max_vel
self.vel = vel
self.waypoints = []
self.trajectory = []
self.planning_depth = planning_depth
def __init__(self, vel=0, mass=400, max_vel=5,
planning_depth=20, **kwargs):
from fluids.assets import Lane, Car, Pedestrian, TrafficLight, Terrain, Sidewalk, PedCrossing
collideables = [Lane,
Car,
Pedestrian,
TrafficLight,
Terrain,
Sidewalk,
PedCrossing]
Shape.__init__(self,
collideables=collideables,
color=(20, 150, 250),
xdim=70,
ydim=35,
**kwargs)
self.l_r = self.l_f = self.ydim / 2
self.mass = mass
self.max_vel = max_vel
self.vel = vel
self.waypoints = []
self.trajectory = []
self.planning_depth = planning_depth
self.PID_acc = PIDController(1.0, 0, 0)
self.PID_steer = PIDController(2.0, 0, 0)
self.last_action = SteeringAction(0, 0)
self.last_obs = None
self.last_distance = 0
self.last_to_goal = 0
self.stopped_time = 0
self.running_time = 0
self.last_blob_time = -1
self.cached_blob = self.get_future_shape()
def __init__(self, max_vel=2, vel=0, planning_depth=2, dim=25, **kwargs):
Shape.__init__(self, color=(0xF4, 0x80, 0x04), xdim=dim, ydim=dim, **kwargs)
self.max_vel = max_vel
self.vel = vel
self.waypoints = []
self.trajectory = []
self.planning_depth = planning_depth
def __init__(self, start_wps=[], end_wps=[], **kwargs):
Shape.__init__(self, color=(0xf1, 0xf4, 0xf5), **kwargs)
point0 = (self.points[2] + self.points[3]) / 2
point1 = (self.points[0] + self.points[1]) / 2
if len(start_wps) and len(end_wps):
self.start_waypoints = start_wps
self.end_waypoints = end_wps
else:
self.start_waypoints = [
Waypoint(point0[0],
point0[1],
owner=self,
ydim=5,
angle=self.angle),
Waypoint(point1[0],
point1[1],
owner=self,
ydim=5,
angle=self.angle + np.pi)
]
self.end_waypoints = [
Waypoint(point1[0],
point1[1],
owner=self,
ydim=5,
angle=self.angle),
Waypoint(point0[0],
point0[1],
owner=self,
ydim=5,
angle=self.angle + np.pi)
]
self.start_waypoints[0].nxt = [self.end_waypoints[0]]
self.start_waypoints[1].nxt = [self.end_waypoints[1]]
def __init__(self, vel=0, mass=400, max_vel=5,
planning_depth=13, path=-1, **kwargs):
from fluids.assets import Lane, Car, Pedestrian, TrafficLight, Terrain, Sidewalk, PedCrossing
collideables = [Car,
Pedestrian]
infractables = [Lane,
TrafficLight,
Terrain,
Sidewalk,
PedCrossing]
Shape.__init__(self,
collideables=collideables,
infractables=infractables,
color=(0x1d, 0xb1, 0xb0), # 769BB0
xdim=70,
ydim=35,
**kwargs)
self.l_r = self.l_f = self.ydim / 2
self.mass = mass
self.max_vel = max_vel
self.vel = vel
self.waypoints = []
self.trajectory = []
self.planning_depth = planning_depth
self.PID_acc = PIDController(1.0, 0, 0)
self.PID_steer = PIDController(2.0, 0, 0)
self.last_action = SteeringAccAction(0, 0)
self.last_obs = None
self.last_distance = 0
self.last_to_goal = 0
self.stopped_time = 0
self.running_time = 0
# Rewards metrics
self.last_four_positions = [np.asarray((self.x, self.y)),
np.asarray((self.x, self.y)),
np.asarray((self.x, self.y)),
np.asarray((self.x, self.y))]
self.jerk = calc_jerk(self.last_four_positions)
# Current reward
self.current_reward = 0.0
# Total reward
self.total_collisions = 0.0
self.total_infractions = 0.0
self.total_time = 0.0
self.total_liveliness = self.vel/self.max_vel
self.total_jerk = self.jerk
self.total_traj_follow = self.last_to_goal
self.total_reward = 0.0
self.last_blob_time = -1
self.cached_blob = self.get_future_shape()
self.path = path
self.keep_random = False
self.generated_first_traj = False
def __init__(self, **kwargs):
Shape.__init__(self, color=(50, 50, 50), **kwargs)
self.start_waypoint = (self.points[2] + self.points[3]) / 2
self.end_waypoint = (self.points[0] + self.points[1]) / 2
self.start_waypoint = Waypoint(self.start_waypoint[0],
self.start_waypoint[1], self.angle)
self.end_waypoint = Waypoint(self.end_waypoint[0],
self.end_waypoint[1], self.angle)
self.start_waypoint.nxt = [self.end_waypoint]
def __init__(self, **kwargs):
Shape.__init__(self, color=(120, 150, 20), **kwargs)
point0 = (self.points[2] + self.points[3]) / 2
point1 = (self.points[0] + self.points[1]) / 2
self.start_waypoints = [
Waypoint(point0[0], point0[1], self.angle),
Waypoint(point1[0], point1[1], self.angle + np.pi)
]
self.end_waypoints = [
Waypoint(point1[0], point1[1], self.angle),
Waypoint(point0[0], point0[1], self.angle + np.pi)
]
self.start_waypoints[0].nxt = [self.end_waypoints[0]]
self.start_waypoints[1].nxt = [self.end_waypoints[1]]
def __init__(self, init_color="red", **kwargs):
color = {"red": RED, "green": GREEN, "yellow": YELLOW}[init_color]
self.timer = {"red": 0, "green": 200, "yellow": 350}[init_color]
Shape.__init__(self, xdim=20, ydim=60, color=color, **kwargs)
def __init__(self, **kwargs):
Shape.__init__(self, color=(0xff, 0xff, 0xff), **kwargs)
self.in_waypoints = []
self.out_waypoints = []
self.intersection_waypoints = []
def __init__(self, **kwargs):
Shape.__init__(self, color=(30, 30, 30), **kwargs)
self.in_waypoints = []
self.out_waypoints = []
def __init__(self, **kwargs):
Shape.__init__(self, color=(150, 200, 150), **kwargs)
def __init__(self, **kwargs):
Shape.__init__(self, color=(0xFD, 0xF8, 0xEF), **kwargs)
def __init__(self, init_color="red", **kwargs):
color = {"red": RED, "green": GREEN}[init_color]
self.timer = {"red": 0, "green": 200}[init_color]
Shape.__init__(self, xdim=10, ydim=30, color=color, **kwargs)
def __init__(self, **kwargs):
Shape.__init__(self, color=(0xfd,0xF8,0xef), **kwargs)
