def manhattan_distance(env: MapfEnv, s, a1, a2):
"""Return the manhattan distance between the two given agents in the given state"""
locations = env.state_to_locations(s)
return abs(locations[a1][0] - locations[a2][0]) + abs(locations[a1][1] -
locations[a2][1])
def test_couple_detect_conflict_3_agents_multiple_agents_in_group(self):
"""This test may sometime be used to test detecting a conflict for only a couple of agents.
The test will make sure that agent 0 got no conflicts with 1 and 2 while agents 1 and 2 do get a conflict.
Now agent 1 will be a part of a group contains both agent 0 and 1 ([0,1]). This way agent 1 index in its
group will be 1 and not 0. This case is catching a bug I had previously.
"""
grid = MapfGrid(['...', '...', '...'])
agents_starts = ((0, 0), (2, 0), (2, 2))
agents_goals = ((0, 2), (2, 2), (2, 0))
env = MapfEnv(grid, 3, agents_starts, agents_goals, 0, 0, -1, 1, -0.01)
single_agent_env = MapfEnv(grid, 1, (agents_starts[0], ),
(agents_goals[0], ), 0, 0, -1, 1, -0.01)
env01 = get_local_view(env, [0, 1])
# >>S
# SSS
# SSS
policy0 = {
0: ACTIONS.index(RIGHT),
1: ACTIONS.index(STAY),
2: ACTIONS.index(STAY),
3: ACTIONS.index(RIGHT),
4: ACTIONS.index(STAY),
5: ACTIONS.index(STAY),
6: ACTIONS.index(STAY),
7: ACTIONS.index(STAY),
8: ACTIONS.index(STAY),
}
# SSS
# SSS
# >>S
policy1 = {
0: ACTIONS.index(STAY),
1: ACTIONS.index(STAY),
2: ACTIONS.index(RIGHT),
3: ACTIONS.index(STAY),
4: ACTIONS.index(STAY),
5: ACTIONS.index(RIGHT),
6: ACTIONS.index(STAY),
7: ACTIONS.index(STAY),
8: ACTIONS.index(STAY),
}
# policy01 is a cross between agent 0 and agent 1
policy01 = {}
for s0 in range(9):
for s1 in range(9):
joint_state = env01.locations_to_state(
(single_agent_env.state_to_locations(s0)[0],
single_agent_env.state_to_locations(s1)[0]))
policy01[joint_state] = vector_action_to_integer(
(integer_action_to_vector(policy0[s0], 1)[0],
integer_action_to_vector(policy1[s1], 1)[0]))
# SSS
# SSS
# S<<
policy2 = {
0: ACTIONS.index(STAY),
1: ACTIONS.index(STAY),
2: ACTIONS.index(STAY),
3: ACTIONS.index(STAY),
4: ACTIONS.index(STAY),
5: ACTIONS.index(LEFT),
6: ACTIONS.index(STAY),
7: ACTIONS.index(STAY),
8: ACTIONS.index(LEFT),
}
joint_policy = CrossedPolicy(env, [
DictPolicy(env01, 1.0, policy01),
DictPolicy(get_local_view(env, [2]), 1.0, policy2)
], [[0, 1], [2]])
aux_local_env = get_local_view(env, [0])
# Assert a conflict is found for agents 1 and 2
self.assertEqual(
couple_detect_conflict(env, joint_policy, 2, 1),
((2, aux_local_env.locations_to_state(
((2, 2), )), aux_local_env.locations_to_state(((2, 1), ))),
(1, aux_local_env.locations_to_state(
((2, 0), )), aux_local_env.locations_to_state(((2, 1), )))))
# Assert no conflict is found for agents 0 and 1
self.assertIsNone(couple_detect_conflict(env, joint_policy, 0, 1))
# Assert no conflict is found for agents 0 and 2
self.assertIsNone(couple_detect_conflict(env, joint_policy, 0, 2))
