def reset_world(self):
agents = self.create_agents()
pois = self.create_pois()
self._world = World(self.world_width, self.world_height,
self.num_agents, self.num_pois, agents, pois)
self._agents = self._world.get_agents()
self._pois = self._world.get_pois()
def test_apply_cont_actions():
agents = [Agent((0, 0))]
world = World(10, 10, 1, 0, agents)
commands = np.array([np.array([1, 2])])
world.apply_cont_actions(commands)
assert np.array_equal(np.array([1, 2]), world.get_agents()[0].get_loc())
def test_get_obs_image_scale():
agents = [Agent((1.1, 1))]
pois = [POI((2.5, 1.2))]
world = World(10, 10, 1, 1, agents, pois)
img = world.get_obs_image(10)
assert img[10][11][0] == 1
assert img[12][25][1] == 1
def test_get_obs_image():
agents = [Agent((1.1, 1))]
pois = [POI((2.5, 1.2))] # Even numbers round up, odd round down
world = World(10, 10, 1, 1, agents, pois)
img = world.get_obs_image()
assert img[1][1][0] == 1
assert img[1][2][1] == 1
def test_get_local_obs_images():
agents = [Agent((1.1, 1))]
pois = [POI((2.5, 1.2))]
world = World(10, 10, 1, 1, agents, pois)
imgs = world.get_local_obs_images(3)
agent_img = imgs[0]
assert agent_img[1][1][0] == 1 # Observe self
assert agent_img[1][2][1] == 1 # Observe POI
def test_init_creates_valid_pois():
world = World(10, 10, 0, 2)
valid = True
for p in world.get_pois():
loc = p.get_loc()
x, y = loc[0], loc[1]
valid = valid and x >= 0 and x < 10 and y >= 0 and y < 10
assert valid
assert len(world.get_pois()) == 2
def test_init_creates_valid_agents():
world = World(10, 10, 2, 0)
valid = True
for a in world.get_agents():
loc = a.get_loc()
x, y = loc[0], loc[1]
valid = valid and x >= 0 and x < 10 and y >= 0 and y < 10
assert valid
assert len(world.get_agents()) == 2
def test_get_obs_states():
agents = [
Agent((1, 1)),
Agent((0, 1.5)),
Agent((1.5, 0)),
Agent((0, 0)),
Agent((1.5, 1.5))
]
pois = [POI((0, 0))]
world = World(5, 5, 5, 1, agents, pois)
vec = world.get_obs_states()
assert vec.shape[0] == 5
assert vec[0][0] == 1
assert vec[0][6] == 1 / np.sqrt(2)
def create_world(self):
self._world = World(self.world_width, self.world_height,
self.num_agents, self.num_pois)
self._agents = self._world.get_agents()
self._pois = self._world.get_pois()
def test_apply_cont_actions_mismatch():
world = World(10, 10, 1, 0)
commands = np.array([np.array([1, 2]), np.array([4, 3])])
with pytest.raises(AssertionError):
world.apply_cont_actions(commands)
def test_apply_discrete_actions_mismatch():
world = World(10, 10, 1, 0)
commands = np.array([1, 5])
with pytest.raises(AssertionError):
world.apply_discrete_actions(commands)