def showDomain(self, a=0): # Draw the environment s = self.state world = np.zeros((self.blocks, self.blocks), 'uint8') undrawn_blocks = np.arange(self.blocks) while len(undrawn_blocks): A = undrawn_blocks[0] B = s[A] undrawn_blocks = undrawn_blocks[1:] if B == A: # => A is on Table world[0, A] = A + 1 # 0 is white thats why! else: # See if B is already drawn i, j = findElemArray2D(B + 1, world) if len(i): world[i + 1, j] = A + 1 # 0 is white thats why! else: # Put it in the back of the list undrawn_blocks = np.hstack((undrawn_blocks, [A])) if self.domain_fig is None: self.domain_fig = plt.imshow( world, cmap='BlocksWorld', origin='lower', interpolation='nearest') # ,vmin=0,vmax=self.blocks) plt.xticks(np.arange(self.blocks), fontsize=FONTSIZE) plt.yticks(np.arange(self.blocks), fontsize=FONTSIZE) # pl.tight_layout() plt.axis('off') plt.show() else: self.domain_fig.set_data(world) plt.draw()
def showDomain(self, a=0): # Draw the environment s = self.state world = np.zeros((self.blocks, self.blocks), 'uint8') undrawn_blocks = np.arange(self.blocks) while len(undrawn_blocks): A = undrawn_blocks[0] B = s[A] undrawn_blocks = undrawn_blocks[1:] if B == A: # => A is on Table world[0, A] = A + 1 # 0 is white thats why! else: # See if B is already drawn i, j = findElemArray2D(B + 1, world) if len(i): world[i + 1, j] = A + 1 # 0 is white thats why! else: # Put it in the back of the list undrawn_blocks = np.hstack((undrawn_blocks, [A])) if self.domain_fig is None: plt.figure("Domain") self.domain_fig = plt.imshow( world, cmap='BlocksWorld', origin='lower', interpolation='nearest') # ,vmin=0,vmax=self.blocks) plt.xticks(np.arange(self.blocks), fontsize=FONTSIZE) plt.yticks(np.arange(self.blocks), fontsize=FONTSIZE) # pl.tight_layout() plt.axis('off') plt.show() else: self.domain_fig.set_data(world) plt.figure("Domain").canvas.draw() plt.figure("Domain").canvas.flush_events()
def showDomain(self, a): s = self.state # Plot the car and an arrow indicating the direction of accelaration # Parts of this code was adopted from Jose Antonio Martin H. # <*****@*****.**> online source code pos, vel = s if self.domain_fig is None: # Need to initialize the figure self.domain_fig = plt.figure("Mountain Car Domain") # plot mountain mountain_x = np.linspace(self.XMIN, self.XMAX, 1000) mountain_y = np.sin(3 * mountain_x) plt.gca( ).fill_between(mountain_x, min(mountain_y) - self.CAR_HEIGHT * 2, mountain_y, color='g') plt.xlim([self.XMIN - .2, self.XMAX]) plt.ylim( [min(mountain_y) - self.CAR_HEIGHT * 2, max(mountain_y) + self.CAR_HEIGHT * 2]) # plot car self.car = lines.Line2D([], [], linewidth=20, color='b', alpha=.8) plt.gca().add_line(self.car) # Goal plt.plot(self.GOAL, np.sin(3 * self.GOAL), 'yd', markersize=10.0) plt.axis('off') plt.gca().set_aspect('1') self.domain_fig = plt.figure("Mountain Car Domain") #pos = 0 #a = 0 car_middle_x = pos car_middle_y = np.sin(3 * pos) slope = np.arctan(3 * np.cos(3 * pos)) car_back_x = car_middle_x - self.CAR_WIDTH * np.cos(slope) / 2. car_front_x = car_middle_x + self.CAR_WIDTH * np.cos(slope) / 2. car_back_y = car_middle_y - self.CAR_WIDTH * np.sin(slope) / 2. car_front_y = car_middle_y + self.CAR_WIDTH * np.sin(slope) / 2. self.car.set_data([car_back_x, car_front_x], [car_back_y, car_front_y]) # wheels # plott(x(1)-0.05,sin(3*(x(1)-0.05))+0.06,'ok','markersize',12,'MarkerFaceColor',[.5 .5 .5]); # plot(x(1)+0.05,sin(3*(x(1)+0.05))+0.06,'ok','markersize',12,'MarkerFaceColor',[.5 .5 .5]); # Arrows if self.actionArrow is not None: self.actionArrow.remove() self.actionArrow = None if self.actions[a] > 0: self.actionArrow = fromAtoB( car_front_x, car_front_y, car_front_x + self.ARROW_LENGTH * np.cos(slope), car_front_y + self.ARROW_LENGTH * np.sin(slope), #car_front_x + self.CAR_WIDTH*cos(slope)/2., car_front_y + self.CAR_WIDTH*sin(slope)/2.+self.CAR_HEIGHT, 'k', "arc3,rad=0", 0, 0, 'simple' ) if self.actions[a] < 0: self.actionArrow = fromAtoB( car_back_x, car_back_y, car_back_x - self.ARROW_LENGTH * np.cos(slope), car_back_y - self.ARROW_LENGTH * np.sin(slope), #car_front_x + self.CAR_WIDTH*cos(slope)/2., car_front_y + self.CAR_WIDTH*sin(slope)/2.+self.CAR_HEIGHT, 'r', "arc3,rad=0", 0, 0, 'simple' ) plt.draw()