def read_agent_state_for_analysis_file(
file_path: str) -> typing.List[AgentAnalysisState]:
#maybe have a type mapping for this
try:
with open(file_path) as f:
reader = csv.reader(f)
header = next(reader)
return [
AgentAnalysisState(Vector3r(row[0], row[1], row[2]),
Vector3r(row[3], row[4],
row[5]), *row[6:-1],
list(row[-1].split('|'))) for row in reader
]
except Exception as e:
raise e
def find_sources(self, max_no_sources):
'''
Given an upper limit on the number of sources available in the agent's environment, executes a control loop to locate
the sources, or return a given number of sources as found. This is not suitable for multi-agent simulations, where agents
should coordinate across each timestep.
'''
self.max_no_sources = max_no_sources
#the locations of sources of evidence that have already been successfully located
self.located_sources = []
while len(self.located_sources) < self.max_no_sources:
next_source = self.find_source()
#check if the source is deemed to not be present at all
#if so, break the loop
#This is bad practice - try and fix in future
print("next_source: ", next_source)
if next_source.grid_loc == Vector3r(-1, -1):
break
#given the next located source, append it to the list of located sources and then
#modify the belief vector to set the probability of subsequent sources to be found at
#the given location to be zero.
self.located_sources.append(next_source)
#
self.current_belief_map.mark_source_as_located(
next_source.grid_loc)
#return the list of located sources to the user
return self.located_sources
def _generate_gaussian_prior(
grid: UE4Grid,
means: "list of 2 means",
covariance_matrix: "2x2 covariance matrix",
initial_belief_sum=0.5
) -> "Tuple(np.array normed prior probs, prior_dict":
'''A method that returns the normed z vector as well as the prior dict. Given a 2d vector of means, 2X2 covariance matrix, returns a 2D gaussian prior'''
#maybe should check all dimensions of data here
prior = {}
x, y = np.mgrid[0:grid.get_no_points_x() *
grid.get_lng_spacing():grid.get_lng_spacing(),
0:grid.get_no_points_y() *
grid.get_lat_spacing():grid.get_lat_spacing()]
pos = np.empty(x.shape + (2, ))
pos[:, :, 0] = x
pos[:, :, 1] = y
rv = multivariate_normal(means, covariance_matrix)
z = rv.pdf(pos)
normed_z = z * (initial_belief_sum / z.sum())
#normed_z = normed_z.astype(float)
#return likelihoods in dict with grid points
for x_value in [_[0] for _ in x]:
for y_value in y[0]:
prior[Vector3r(x_value,
y_value)] = float(normed_z[x_value][y_value])
#place prior into ordered numpy array
list_of_grid_points = []
for grid_loc in grid.get_grid_points():
list_of_grid_points.append(prior[grid_loc])
list_of_grid_points = np.array(list_of_grid_points)
numpy_prior = np.append(list_of_grid_points, 1 - list_of_grid_points.sum())
return numpy_prior
def parse_Vector3r_from_string(string):
'''
Given a string with Vector3rs, returns the Vector3r objects in a list in the order that they appeared in the string
'''
return [
Vector3r(int(_.split(',')[0]), int(_.split(',')[1]))
for _ in re.findall("Vector3r\(([0-9]+ ?, ?[0-9]+)\)", string)
]
def create_grid_with_no_points(self):
'''Assuming it's known how many points are desired in x and y direction,
creates the grid rooted at the origin'''
#x,y = np.meshgrid([i for i in range(10)], [i for i in range(10)], indexing = 'xy')
self.grid = []
backtrack = False
for x_counter in range(self.no_x):
if backtrack:
for y_counter in range(self.no_y):
self.grid.append(self.origin +
Vector3r(x_counter *
self.lng_spacing, y_counter *
self.lat_spacing))
backtrack = not backtrack
else:
for y_counter in range(self.no_y - 1, -1, -1):
self.grid.append(self.origin +
Vector3r(x_counter *
self.lng_spacing, y_counter *
self.lat_spacing))
backtrack = not backtrack
def get_observations_from(self, other_agent_name, timestep = None):
'''
Returns a list of agent observations from another agent given the other agents name.
'''
#print("making get request to: ", self.create_request_url(other_agent_name, timestamp))
response_json = requests.get(self.create_request_url(other_agent_name, timestep)).json()
return_observations = []
for row in response_json[1:]:
row = row.split(',')
# try:
return_observations.append(AgentObservation(Vector3r(row[1], row[0], row[2]), *row[3:]))
# except Exception as e:
# print("found an exception: ", row)
return return_observations
def get_agent_observations_from_file(
file_path: str) -> typing.List[AgentObservation]:
'''Reads agent observations from a file and returns a list of agent observation objects'''
#maybe have a type mapping for this
try:
with open(file_path) as f:
reader = csv.reader(f)
header = next(reader)
return [
AgentObservation(Vector3r(row[1], row[0], row[2]), *row[3:])
for row in reader
]
except Exception as e:
return []
def read_all_observations_from_file(self):
'''
Returns all observations from file associated with agent as AgentObservations
'''
try:
self.file_handle.seek(0)
reader = csv.reader(self.file_handle)
#header = next(reader)
#read the header and then throw it away
next(reader)
#reset the file handle to it's start position for reading again
return [
AgentObservation(Vector3r(row[1], row[0], row[2]), *row[3:])
for row in reader
]
#not sure how this could be handled for now
except Exception as e:
raise e
return_CI_map.update_from_observations(
self.get_observation_set(agent_name))
def get_continuous_belief_map_from_observations(self, grid_bounds):
'''Given grid bounds, returns a function which returns the likelihood given the
continuous position of the RAV. I.E. transform the discrete PDF as above to a
continuous one.'''
pass
#%%
#%%
if __name__ == "__main__":
test_grid = UE4Grid(1, 1, Vector3r(0, 0), 6, 5)
test_ObservationSetManager = ObservationSetManager('agent1')
test_ObservationSetManager.observation_sets
obs1 = AgentObservation(Vector3r(0, 0), 0.5, 1, 1234, 'agent2')
obs2 = AgentObservation(Vector3r(0, 0), 0.7, 2, 1235, 'agent2')
obs3 = AgentObservation(Vector3r(0, 1), 0.95, 3, 1237, 'agent2')
obs4 = AgentObservation(Vector3r(0, 1), 0.9, 3, 1238, 'agent1')
test_ObservationSetManager.init_rav_observation_set(
'agent2', set([obs1, obs2]))
assert test_ObservationSetManager.get_observation_set('agent2') == set(
[obs1, obs2])
test_ObservationSetManager.observation_sets
try:
with open(file_path) as f:
reader = csv.reader(f)
header = next(reader)
return [
AgentAnalysisState(Vector3r(row[0], row[1], row[2]),
Vector3r(row[3], row[4],
row[5]), *row[6:-1],
list(row[-1].split('|'))) for row in reader
]
except Exception as e:
raise e
if __name__ == "__main__":
testAgentAnalysisState1 = AgentAnalysisState(Vector3r(10, 20, 30),
Vector3r(40, 50,
60), 2, 1.1252,
'rav_name', 3.1, 2.8, 2.8,
2.6, ['drone1', 'drone2'])
testAgentAnalysisState2 = AgentAnalysisState(Vector3r(70, 20, 12),
Vector3r(12.5, 50, 60.2), 2,
1.1252, 'rav_name', 3.1, 2.8,
2.8, 2.1, ['drone1'])
testAgentAnalysisState3 = AgentAnalysisState(
Vector3r(0.0, 15.0, 0.0),
Vector3r(25.0036563873291, -2.3688066005706787,
-11.998088836669922), 0, 1542291931.2268043, "Drone2", 15.0,
0.9784099446151149, 0.02159005538488512, 0.0111930622, ['Drone1'])
testAgentAnalysisState1._asdict()
def can_coord_with_other(self, other_rav_name, range_m):
'''
Defines the probability with which the current agent can successfully
coordinate with other agent as a function of distance
'''
#check if any other ravs in comm radius. if so, return which ravs can be communicated with
#assume communcications randomly drop with probability in proportion to range_m
#for now 10% communication. This should probably go in a config file
return random.random() < 0.1
#%%
if __name__ == "__main__":
from Utils.ClientMock import KinematicsState, MockRavForTesting, ImageType, Vector3r
grid = UE4Grid(15, 20, Vector3r(0, 0), 60, 45)
#grid, move_from_bel_map_callable, height, epsilon, multirotor_client, agent_name, performance_csv_path: "file path that agent can write performance to", prior = []
#grid, initial_pos, move_from_bel_map_callable, height, epsilon, multirotor_client, agent_name, prior = {}
occupancy_grid_agent = BaseGridAgent(
grid, Vector3r(0, 0), get_move_from_belief_map_epsilon_greedy, -12,
0.2, MockRavForTesting(), 'agent1')
#write some tests for agent here
occupancy_grid_agent.current_pos_intended = Vector3r(0, 0)
occupancy_grid_agent.current_pos_measured = None
occupancy_grid_agent.current_reading = 0.1
occupancy_grid_agent.get_agent_state_for_analysis()
occupancy_grid_agent.explore_timestep()
#belief_map: BeliefMap, current_grid_loc: Vector3r, epsilon: float, eff_radius = None) -> Vector3r:
dont_move = lambda belief_map, current_grid_loc, epsilon: Vector3r(15, 20)
print(grid.get_grid_points())
'''Try and replicate results of Coordinated Search with a Swarm of UAVs'''
#grid = UE4Grid(10, 10, Vector3r(0,0), 90, 90)
pass
if __name__ == "__main__":
#args = parse_args(sys.argv[1:])
#agent_name = args.agent_name
#print('args: ',args)
t1 = time.time()
agent1_name = 'agent1'
agent2_name = 'agent2'
agent3_name = 'agent3'
#x then y
grid = UE4Grid(1, 1, Vector3r(0, 0), 10, 10)
means = [1, 3]
covariance_matrix = [[7.0, 0], [0, 15]]
prior = generate_gaussian_prior(grid,
means,
covariance_matrix,
initial_belief_sum=0.5)
source_location = Vector3r(4, 3)
agent_start_pos = Vector3r(5, 8)
saccadic_selection_method = SaccadicActionSelection(grid)
alpha = 0.2
beta = 0.1
cb_single_source_sensor = SingleSourceSensor(alpha, beta, source_location)
#agent_name: str, grid: UE4Grid, belief_map_components: typing.List[BeliefMapComponent], prior: typing.Dict[Vector3r, float], alpha: 'prob of false pos', beta: 'prob of false neg', apply_blur = False):
'''Try and replicate results of Coordinated Search with a Swarm of UAVs'''
#grid = UE4Grid(10, 10, Vector3r(0,0), 90, 90)
pass
if __name__ == "__main__":
#args = parse_args(sys.argv[1:])
#agent_name = args.agent_name
#print('args: ',args)
t1 = time.time()
agent1_name = 'agent1'
agent2_name = 'agent2'
agent3_name = 'agent3'
#x then y
grid = UE4Grid(1, 1, Vector3r(0, 0), 10, 8)
means = [18, 16]
covariance_matrix = [[7.0, 0], [0, 3]]
prior = generate_gaussian_prior(grid,
means,
covariance_matrix,
initial_belief_sum=0.5)
prior = generate_uniform_prior(grid)
source_locations = [Vector3r(1, 1), Vector3r(5, 6), Vector3r(10, 6)]
agent_start_pos = Vector3r(10, 8)
saccadic_selection_method = SaccadicActionSelection(grid)
#nearest_neighbor_selection = GreedyActionSelection(eff_radius = min([grid.lat_spacing, grid.lng_spacing]))
sweep_action_selection_method = TSPActionSelection(grid, agent_start_pos)
#epsilon_greedy_action_selection_method = EpsilonGreedyActionSelection(0.2, eff_radius = 4 * min([grid.lat_spacing, grid.lng_spacing]))
#plt.xlim(0,2200)
plt.figure()
plt.plot([i**2 for i in range(100, 2200, 100)], sizes)
plt.title("Average size in bytes taken to update vs. grid size")
#plt.xlim(0, 2200)
#%%
if __name__ == '__main__':
#%%
from Utils.UE4Grid import UE4Grid
from Utils.Vector3r import Vector3r
fpr = 0.1
fnr = 0.2
test_grid = UE4Grid(1, 1, Vector3r(0.0), 20, 20)
initial_state = [0.008 for i in range(len(test_grid.get_grid_points()))]
initial_state.append(1 - sum(initial_state))
initial_state = initial_state * np.identity(len(initial_state))
fpr_matrix = fpr * np.identity(len(initial_state))
fnr_matrix = fnr * np.identity(len(initial_state))
identity = np.identity(len(initial_state))
b0 = fnr_matrix
a0 = identity - fpr_matrix
b1 = identity - fnr_matrix
a1 = fpr_matrix
#%%
update_fns = gen_next_estimated_state_functions(initial_state.shape[0], a1,
b1, a0, b0)
#%%
def run_coordinate_search_with_swarm_UAVs():
'''Try and replicate results of Coordinated Search with a Swarm of UAVs'''
#grid = UE4Grid(10, 10, Vector3r(0,0), 90, 90)
pass
if __name__ == "__main__":
#args = parse_args(sys.argv[1:])
#agent_name = args.agent_name
#print('args: ',args)
t1 = time.time()
agent1_name = 'agent1'
#x then y
grid = UE4Grid(1, 1, Vector3r(0,0), 3, 3)
#means = [1,3]
#covariance_matrix = [[7.0, 0], [0, 15]]
#prior = generate_gaussian_prior(grid, means, covariance_matrix, initial_belief_sum = 0.5)
prior = generate_uniform_prior(grid)
source_location = Vector3r(2,2)
agent_start_pos = Vector3r(5,8)
saccadic_selection_method = SaccadicActionSelection(grid)
nearest_neighbor_selection = GreedyActionSelection(eff_radius = min([grid.lat_spacing, grid.lng_spacing]))
#alpha is the "false alarm" rate (of false positive)
alpha = 0.2
#beta is the "missed detection" rate (or false negative)
beta = 0.25
# plt.savefig(file_path)
def is_valid_initial_dist(no_grid_points, initial_dist):
'''Verifies that the specified initial distribution over a grid is valid. It's assumed that the initial distribution
represents the probability of evidence being located at a particular grid location.'''
return math.isclose(
initial_dist.sum(), 1,
rel_tol=0.0000001) and len(initial_dist) == no_grid_points + 1
#%%
if __name__ == '__main__':
#%%
grid = UE4Grid(1, 1, Vector3r(0, 0), 10, 10)
grid.get_grid_points()
means = [1, 3]
covariance_matrix = [[7.0, 0], [0, 15]]
initial_belief_sum = 0.5
gaussian_prior = _generate_gaussian_prior(grid, means, covariance_matrix,
initial_belief_sum)
assert is_valid_initial_dist(grid.get_no_grid_points(), gaussian_prior)
prior = generate_gaussian_prior(grid,
means,
covariance_matrix,
initial_belief_sum=0.5)
assert 0.49 < prior[:-1].sum() < 0.51
#%%
def main():
#args = parse_args(sys.argv[1:])
#agent_name = args.agent_name
#print('args: ',args)
#%%
t1 = time.time()
agent1_name = 'agent1'
# agent2_name = 'agent2'
# agent3_name = 'agent3'
#%%
#x then y
grid = get_grid_from_config()
means = [18, 16]
covariance_matrix = [[7.0, 0], [0, 3]]
gaussian_initial = generate_gaussian_prior(grid,
means,
covariance_matrix,
initial_belief_sum=0.5)
uniform_initial = generate_uniform_prior(grid)
source_locations = get_source_locations_from_config()
assert all([
source_location in grid.get_grid_points()
for source_location in source_locations
])
agent1_start_pos = get_agent_start_pos_from_config(1)
saccadic_selection_method = SaccadicActionSelection(grid)
nearest_neighbor_selection = GreedyActionSelection(
eff_radius=min([grid.lat_spacing, grid.lng_spacing]))
if len(grid.get_grid_points()) < 200:
#this takes a long time to initialize if too many grid points are present
sweep_action_selection_method = TSPActionSelection(
grid, agent1_start_pos)
epsilon_greedy_action_selection_method = EpsilonGreedyActionSelection(
0.2, eff_radius=4 * min([grid.lat_spacing, grid.lng_spacing]))
agent1_simulated_sensor = get_simulated_sensor_from_config(1)
agent1_sensor_model_fpr, agent1_sensor_model_fnr = get_sensor_model_params_from_config(
1).false_positive_rate, get_sensor_model_params_from_config(
1).false_negative_rate
# grid, initial_pos, move_from_bel_map_callable, height, agent_name, occupancy_sensor_simulator, belief_map_class, search_terminator, other_active_agents = [], prior = {}, comms_radius = 1000, logged = True)
#estimated_state_map = create_multiple_source_binary_belief_map(grid, uniform_initial, agent1_sensor_model_fpr, agent1_sensor_model_fnr)
agent1_initial_belief_map = MultipleSourceBinaryBeliefMap(
grid, uniform_initial, agent1_sensor_model_fpr,
agent1_sensor_model_fnr)
#prior_belief_present, probability_of_falsely_rejecting_source_is_present_given_source_is_present:"p(type 1 error)", probability_of_falsely_accepting_source_is_present_given_source_is_not_present:"p(type 2 error)"
agent1_initial_belief_map.get_probability_source_in_grid()
agent1_initial_belief_map.current_belief_vector.get_estimated_state()
search_terminator = SequentialProbRatioTest(
agent1_initial_belief_map.get_probability_source_in_grid(),
*get_SPRT_params_from_config(1))
#%%
#grid, initial_pos, move_from_bel_map_callable, height, agent_name, occupancy_sensor_simulator, battery_capacity_simulator, belief_map_class, init_belief_map, search_terminator, other_active_agents = [], comms_radius = 1000, logged = True, no_battery_levels = 11, charging_locations = None
battery_simulator = RAVBatterySimulator(1)
charging_locations = [Vector3r(0, 0)]
assert all([
charging_location in grid.get_grid_points()
for charging_location in charging_locations
])
agent1 = MultipleSourceDetectingGridAgentWithBattery(
grid,
agent1_start_pos,
epsilon_greedy_action_selection_method.get_move,
-10,
agent1_name,
agent1_simulated_sensor,
battery_simulator,
MultipleSourceBinaryBeliefMap,
agent1_initial_belief_map,
search_terminator,
other_active_agents=[],
comms_radius=2,
logged=False,
no_battery_levels=11,
charging_locations=charging_locations)
t1 = time.time()
located_sources = agent1.find_sources(3)
t2 = time.time()
print("\n\nSeach took {} seconds.".format(t2 - t1))
print("\nAgent 1 has terminated the search after {} timesteps".format(
agent1.timestep))
print("The sources were at locations {}".format(source_locations))
print("The agent detected the following locations: {}".format(
located_sources))
#print("\nAgent1 state: \n", agent1.current_belief_map.current_belief_vector.get_estimated_state())
sys.exit(0)
#run_t_timesteps([agent1, agent2], 60)
#agent3.current_belief_map.save_visualisation("D:\\ReinforcementLearning\\DetectSourceAgent\\Visualisations\\Agent3BelMapPrior.png")
max_timesteps = get_max_simulation_steps_from_config()
print("Running with max {} timesteps".format(max_timesteps))
no_timesteps_to_discovery = run_t_timesteps([agent3], max_timesteps,
threshold)
no_timesteps_to_discovery = max_timesteps if not no_timesteps_to_discovery else no_timesteps_to_discovery
print("\n\nSaving visualisations")
with open(file_path) as f:
reader = csv.reader(f)
header = next(reader)
return [
AgentObservation(Vector3r(row[1], row[0], row[2]), *row[3:])
for row in reader
]
except Exception as e:
return []
#%%
if __name__ == "__main__":
#%%
test_grid = UE4Grid(1, 1, Vector3r(0, 0), 10, 6)
test_agent_observations = AgentObservations(test_grid)
obs1 = AgentObservation(Vector3r(0, 0), 0.5, 1, 1234, 'agent1')
obs2 = AgentObservation(Vector3r(0, 0), 0.7, 2, 1235, 'agent1')
obs3 = AgentObservation(Vector3r(0, 1), 0.9, 3, 1237, 'agent1')
obs4 = AgentObservation(Vector3r(0, 0), 0.7, 2, 1235, 'agent1')
obs5 = AgentObservation(Vector3r(1.0, 2, 0), 0.4, 1, 1234, 'agent1')
#%%
assert obs5.grid_loc == Vector3r(1, 2, 0)
#check eq method of agent observation
assert not obs1.__eq__(obs2)
assert obs2.__eq__(obs4)
fnr = 0.25
binary_sensor_parameter = BinarySensorParameters(fpr, fnr)
try:
BinarySensorParameters(2, 3)
assert False
except Exception as e:
assert True
try:
BinarySensorParameters(fpr, 0.6)
assert False
except Warning as e:
assert True
#%%
source_locations = [Vector3r(2, 2)]
cb_sensor = FalsePosFalseNegBinarySensorSimulator(binary_sensor_parameter,
source_locations)
no_samples = 100000
#check fpr
assert math.isclose(sum(
[cb_sensor.get_reading(Vector3r(0, 0)) for i in range(no_samples)]),
no_samples * fpr,
rel_tol=0.01)
#check fnr
assert math.isclose(sum([
1 - cb_sensor.get_reading(source_locations[0])
for i in range(no_samples)
]),
no_samples * (fnr),
rel_tol=0.01)
for radiation_loc in radiation_locs
]
#returns true if within 0.5 m
return 1 if sum(strengths) / 800 > 0.95 else (
(sum(strengths) / 800 + 0.1) * 0.9) + random.gauss(0, 0.005)
def get_sensor_reading(self):
return self.rad_model(self.current_pos_intended,
self.sources_locations)
#%%
if __name__ == "__main__":
#%%
test_grid = UE4Grid(2, 1, Vector3r(0, 0), 10, 6)
assert test_grid.get_no_points_x() == 6
assert test_grid.get_no_points_y() == 7
assert test_grid.get_lat_spacing() == 1
assert test_grid.get_lng_spacing() == 2
assert len(test_grid.get_grid_points()
) == test_grid.get_no_points_x() * test_grid.get_no_points_y()
test_grid1 = UE4Grid(1, 1, Vector3r(0, 0), 9, 13)
assert len(test_grid1.get_grid_points(
)) == test_grid1.get_no_points_x() * test_grid1.get_no_points_y()
assert set(test_grid1.get_neighbors(Vector3r(2, 2), 1.9)) == set([
'''Try and replicate results of Coordinated Search with a Swarm of UAVs'''
pass
if __name__ == "__main__":
#args = parse_args(sys.argv[1:])
#agent_name = args.agent_name
#print('args: ',args)
t1 = time.time()
agent1_name = 'agent1'
agent2_name = 'agent2'
agent3_name = 'agent3'
#hard code grid for now
#x then y
grid = UE4Grid(10, 15, Vector3r(0, 0), 180, 150)
sources_locations = [Vector3r(140,
150)] #[Vector3r(25,120),Vector3r(140,15)]
rad_model = RadModel(sources_locations, grid, 50000)
#within 8m gives 100% reading
rad_sensor = RadSensor(rad_model, 10)
#rad_model.plot_falloff("D:\\ReinforcementLearning\\DetectSourceAgent\\Visualisations\\RadFalloff.png")
#rad_sensor.plot_falloff("D:\\ReinforcementLearning\\DetectSourceAgent\\Visualisations\\RadSensorFalloff.png")
# agent1 = SimpleGridAgentWithSources(grid, Vector3r(20,0), get_move_from_belief_map_epsilon_greedy, -10, 0.1, agent1_name, [Vector3r(80, 120)], other_active_agents = ['agent2'], comms_radius = 2, prior = {grid_loc:0.3 for grid_loc in grid.get_grid_points()})
# agent2 = SimpleGridAgentWithSources(grid, Vector3r(40,135), get_move_from_belief_map_epsilon_greedy, -10, 0.1, agent2_name, [Vector3r(80,120)], other_active_agents = ['agent1'], comms_radius = 2, prior = {grid_loc:0.3 for grid_loc in grid.get_grid_points()})
epsilon = 0.05
agent_start_pos = Vector3r(30, 60)
return return_move
def move_utility(self, belief_map, expected_battery_value, current_grid_loc, next_grid_loc):
'''
Returns the utilitiy function associated with moving from current_grid_loc to next_grid_loc
with the current expected_battery_value and belief_map
'''
pass
def get_move(self, belief_map, current_grid_loc: Vector3r, explored_grid_locs: 'list of Vector3r') -> (bool, Vector3r):
return self.get_move_from_belief_map_epsilon_greedy(belief_map, current_grid_loc, self.epsilon, self.eff_radius)
#%%
if __name__ == "__main__":
test_grid = UE4Grid(1, 1, Vector3r(0,0), 6, 5)
tsp = TSPActionSelection(test_grid, Vector3r(0,3))
print(tsp.get_moves())
obs1 = AgentObservation(Vector3r(0,0),0.5, 1, 1234, 'agent2')
obs2 = AgentObservation(Vector3r(0,0),0.7, 2, 1235, 'agent2')
obs3 = AgentObservation(Vector3r(0,1),0.95, 3, 1237, 'agent2')
#(grid, agent_name, prior = {})
obs_man = ObservationSetManager("agent1")
obs_man.update_rav_obs_set('agent2', [obs1, obs2, obs3])
belief_map = obs_man.get_discrete_belief_map_from_observations(test_grid)
epsilon_greedy = EpsilonGreedyActionSelection(0.0, 1.8)
def get_SPRT_params_from_config(agent_number):
'''
Returns the type1 and type2 probabilities of error
'''
agent_parser = get_agent_config(agent_number)
return (float(agent_parser['SPRTParameters']['Type1ErrorProb']),
float(agent_parser['SPRTParameters']['Type2ErrorProb']))
def get_ffmpeg_file_loc():
env_parser = get_env_config()
return env_parser["FileLocations"]["FFMPEGBinaryLocation"]
#%%
if __name__ == '__main__':
#%%
assert parse_Vector3r_from_string(" Vector3r(0,0) ") == [Vector3r(0, 0)]
assert parse_Vector3r_from_string(" Vector3r(0,0) Vector3r(5,6)") == [
Vector3r(0, 0), Vector3r(5, 6)
]
get_simulated_sensor_from_config(1)
get_grid_from_config()
get_agent_start_pos_from_config(1)
get_source_locations_from_config()
get_max_simulation_steps_from_config()
get_sensor_model_params_from_config(1)