Пример #1
0
def abf(direction, x_, y_, s, level):
    #abstraction is a function of %known atm
    score = 0.0
    #2*
    w = int(2 * math.pow(3, level) + 1)
    #l=int(math.pow(3,level+1))
    l = int(math.pow(3, level + 1) + 1)

    size = w * l

    if direction == (1, 0):
        for x in range(x_, x_ + l + 1):
            for y in range(y_ - w / 2, y_ + w / 2 + 1):
                if s.check_boundaries(Location(x, y)) == True:
                    if bool(s.seen[x][y]) == False:
                        score += 1.
    elif direction == (-1, 0):

        #print x_,y_, "START"
        for x in range(x_, x_ - l - 1, -1):
            for y in range(y_ - w / 2, y_ + w / 2 + 1):
                #print x,y,  bool(s.seen[x][y]), s.color[x][y]
                if s.check_boundaries(Location(x, y)) == True:
                    if bool(s.seen[x][y]) == False:
                        score += 1.
        #print_seen(s)

    elif direction == (0, 1):
        for y in range(y_, y_ + l + 1):
            for x in range(x_ - w / 2, x_ + w / 2 + 1):
                if s.check_boundaries(Location(x, y)) == True:
                    if bool(s.seen[x][y]) == False:
                        score += 1.
    elif direction == (0, -1):
        #print direction
        for y in range(y_, y_ - l - 1, -1):
            for x in range(x_ - w / 2, x_ + w / 2 + 1):

                if s.check_boundaries(Location(x, y)) == True:
                    if bool(s.seen[x][y]) == False:
                        score += 1.

        #print score

    return int(score / float(size) * 10)
Пример #2
0
    def execute(self, action_, environment_data_):
        (x, y) = self.get_transition(action_, self.x, self.y)

        if environment_data_.check_boundaries(Location(x, y)) is True:
            (self.x, self.y) = (x, y)

        self.recalculate_measurement_space()
        self.measure(environment_data_, False)
        #self.history = self.abstractions.abf(environment_data_)

        environment_data_.update_agent_location((self.x, self.y))
Пример #3
0
    def execute(self, action_, environment_data_):
        if environment_data_.check_boundaries(
                Location(self.x + get_transition_x(int(action_[1])),
                         self.y + get_transition_y(int(action_[1])))) is True:
            self.x += get_transition_x(int(action_[1]))
            self.y += get_transition_y(int(action_[1]))
        self.recalculate_measurement_space()
        self.measure(environment_data_, False)
        #self.history = self.abstractions.abf(environment_data_)

        environment_data_.update_agent_location((self.x, self.y))
Пример #4
0
    def simulate(self, action_, s):
        base_reward = s.get_reward()

        (x, y) = self.get_transition(action_, self.x, self.y)

        if s.check_boundaries(Location(x, y)) is True:
            (self.x, self.y) = (x, y)

        s.update_agent_location((self.x, self.y))
        self.recalculate_measurement_space()
        self.measure(s, True)

        return (s, s.get_reward() - base_reward)
Пример #5
0
    def simulate(self, action_, s):
        base_reward = s.get_reward()
        if s.check_boundaries(
                Location(self.x + get_transition_x(int(action_[1])),
                         self.y + get_transition_y(int(action_[1])))) is True:
            self.x += get_transition_x(int(action_[1]))
            self.y += get_transition_y(int(action_[1]))

        s.update_agent_location((self.x, self.y))
        self.recalculate_measurement_space()
        self.measure(s, True)
        #print s.get_reward()-base_reward
        return (s, s.get_reward() - base_reward)
Пример #6
0
	def execute(self,action_,environment_data_):
		(x,y) = self.get_transition(action_,self.x,self.y)
		
		if environment_data_.check_boundaries(Location(x,y)) is True:
			(self.x,self.y) = (x,y)

		self.recalculate_measurement_space()
		self.measure(environment_data_,False)
		if (self.x,self.y) == environment_data_.middle:
			print "charging"
			self.battery+=5
			if self.battery >100:
				self.battery=100
	

		environment_data_.update_agent_location((self.x,self.y))
Пример #7
0
	def simulate_full(self,policy,s):
		base_reward= s.get_reward()
		base_reward2= s.get_reward2()

		for i in range(policy.num_steps):
			(x,y) = self.get_transition(policy.get_next_action(self.x,self.y,s)[0],self.x,self.y)

			if s.check_boundaries(Location(x,y)) is True:
				(self.x,self.y) = (x,y)
			self.recalculate_measurement_space()
			self.measure(s,True)
			
			if (self.x,self.y) == s.middle:
				self.battery+=1
				if self.battery >100:
					self.battery=100


		return (s,s.get_reward()-base_reward, -s.get_reward2()+base_reward2)
Пример #8
0
	def recalculate_measurement_space(self):
		self.measurement_space=[]
		for i in range(self.x-1, self.x+2 ):
			for j in range(self.y-1, self.y+2):
				self.measurement_space.append(Location(i,j))