def showDomain(self, a=0):
s = self.state
if self.domain_fig is None:
self.domain_fig = plt.figure(
1, (UAVLocation.SIZE * self.dist_between_locations + 1,
self.NUM_UAV + 1))
plt.show()
plt.clf()
# Draw the environment
# Allocate horizontal 'lanes' for UAVs to traverse
# Formerly, we checked if this was the first time plotting; wedge shapes cannot be removed from
# matplotlib environment, nor can their properties be changed, without clearing the figure
# Thus, we must redraw the figure on each timestep
# if self.location_rect_vis is None:
# Figure with x width corresponding to number of location states, UAVLocation.SIZE
# and rows (lanes) set aside in y for each UAV (NUM_UAV total lanes).
# Add buffer of 1
self.subplot_axes = self.domain_fig.add_axes([0, 0, 1, 1],
frameon=False,
aspect=1.)
crashLocationX = 2 * \
(self.dist_between_locations) * (UAVLocation.SIZE - 1)
self.subplot_axes.set_xlim(0, 1 + crashLocationX + self.RECT_GAP)
self.subplot_axes.set_ylim(0, 1 + self.NUM_UAV)
self.subplot_axes.xaxis.set_visible(False)
self.subplot_axes.yaxis.set_visible(False)
# Assign coordinates of each possible uav location on figure
self.location_coord = [
0.5 + (self.LOCATION_WIDTH / 2) + (self.dist_between_locations) * i
for i in range(UAVLocation.SIZE - 1)
]
self.location_coord.append(crashLocationX + self.LOCATION_WIDTH / 2)
# Create rectangular patches at each of those locations
self.location_rect_vis = [
mpatches.Rectangle([0.5 + (self.dist_between_locations) * i, 0],
self.LOCATION_WIDTH,
self.NUM_UAV * 2,
fc='w') for i in range(UAVLocation.SIZE - 1)
]
self.location_rect_vis.append(
mpatches.Rectangle([crashLocationX, 0],
self.LOCATION_WIDTH,
self.NUM_UAV * 2,
fc='w'))
[
self.subplot_axes.add_patch(self.location_rect_vis[i])
for i in range(4)
]
self.comms_line = [
lines.Line2D([
0.5 + self.LOCATION_WIDTH +
(self.dist_between_locations) * i, 0.5 + self.LOCATION_WIDTH +
(self.dist_between_locations) * i + self.RECT_GAP
], [self.NUM_UAV * 0.5 + 0.5, self.NUM_UAV * 0.5 + 0.5],
linewidth=3,
color='black',
visible=False) for i in range(UAVLocation.SIZE - 2)
]
self.comms_line.append(
lines.Line2D([
0.5 + self.LOCATION_WIDTH +
(self.dist_between_locations) * 2, crashLocationX
], [self.NUM_UAV * 0.5 + 0.5, self.NUM_UAV * 0.5 + 0.5],
linewidth=3,
color='black',
visible=False))
# Create location text below rectangles
locText = ["Base", "Refuel", "Communication", "Surveillance"]
self.location_rect_txt = [
plt.text(0.5 + self.dist_between_locations * i +
0.5 * self.LOCATION_WIDTH,
-0.3,
locText[i],
ha='center') for i in range(UAVLocation.SIZE - 1)
]
self.location_rect_txt.append(
plt.text(crashLocationX + 0.5 * self.LOCATION_WIDTH,
-0.3,
locText[UAVLocation.SIZE - 1],
ha='center'))
# Initialize list of circle objects
uav_x = self.location_coord[UAVLocation.BASE]
# Update the member variables storing all the figure objects
self.uav_circ_vis = [
mpatches.Circle((uav_x, 1 + uav_id), self.UAV_RADIUS, fc="w")
for uav_id in range(0, self.NUM_UAV)
]
self.uav_text_vis = [None for uav_id in range(0, self.NUM_UAV)] # f**k
self.uav_sensor_vis = [
mpatches.Wedge((uav_x + self.SENSOR_REL_X, 1 + uav_id),
self.SENSOR_LENGTH, -30, 30)
for uav_id in range(0, self.NUM_UAV)
]
self.uav_actuator_vis = [
mpatches.Wedge((uav_x, 1 + uav_id + self.ACTUATOR_REL_Y),
self.ACTUATOR_HEIGHT, 60, 120)
for uav_id in range(0, self.NUM_UAV)
]
# The following was executed when we used to check if the environment needed re-drawing: see above.
# Remove all UAV circle objects from visualization
# else:
# [self.uav_circ_vis[uav_id].remove() for uav_id in range(0,self.NUM_UAV)]
# [self.uav_text_vis[uav_id].remove() for uav_id in range(0,self.NUM_UAV)]
# [self.uav_sensor_vis[uav_id].remove() for uav_id in range(0,self.NUM_UAV)]
# For each UAV:
# Draw a circle, with text inside = amt fuel remaining
# Triangle on top of UAV for comms, black = good, red = bad
# Triangle in front of UAV for surveillance
sStruct = self.state2Struct(s)
for uav_id in range(0, self.NUM_UAV):
# Assign all the variables corresponding to this UAV for this iteration;
# this could alternately be done with a UAV class whose objects keep track
# of these variables. Elect to use lists here since ultimately the state
# must be a vector anyway.
# State index corresponding to the location of this uav
uav_location = sStruct.locations[uav_id]
uav_fuel = sStruct.fuel[uav_id]
uav_sensor = sStruct.sensor[uav_id]
uav_actuator = sStruct.actuator[uav_id]
# Assign coordinates on figure where UAV should be drawn
uav_x = self.location_coord[uav_location]
uav_y = 1 + uav_id
# Update plot wit this UAV
self.uav_circ_vis[uav_id] = mpatches.Circle((uav_x, uav_y),
self.UAV_RADIUS,
fc="w")
self.uav_text_vis[uav_id] = plt.text(uav_x - 0.05, uav_y - 0.05,
uav_fuel)
if uav_sensor == SensorState.RUNNING:
objColor = 'black'
else:
objColor = 'red'
self.uav_sensor_vis[uav_id] = mpatches.Wedge(
(uav_x + self.SENSOR_REL_X, uav_y),
self.SENSOR_LENGTH,
-30,
30,
color=objColor)
if uav_actuator == ActuatorState.RUNNING:
objColor = 'black'
else:
objColor = 'red'
self.uav_actuator_vis[uav_id] = mpatches.Wedge(
(uav_x, uav_y + self.ACTUATOR_REL_Y),
self.ACTUATOR_HEIGHT,
60,
120,
color=objColor)
self.subplot_axes.add_patch(self.uav_circ_vis[uav_id])
self.subplot_axes.add_patch(self.uav_sensor_vis[uav_id])
self.subplot_axes.add_patch(self.uav_actuator_vis[uav_id])
numHealthySurveil = np.sum(
np.logical_and(sStruct.locations == UAVLocation.SURVEIL,
sStruct.sensor))
# We have comms coverage: draw a line between comms states to show this
if (any(sStruct.locations == UAVLocation.COMMS)):
for i in xrange(len(self.comms_line)):
self.comms_line[i].set_visible(True)
self.comms_line[i].set_color('black')
self.subplot_axes.add_line(self.comms_line[i])
# We also have UAVs in surveillance; color the comms line black
if numHealthySurveil > 0:
self.location_rect_vis[len(self.location_rect_vis) -
1].set_color('green')
plt.draw()
sleep(0.5)
def showDomain(self, a=0):
"""
Plot the 2 links + action arrows
"""
s = self.state
if self.domain_fig is None: # Need to initialize the figure
self.domain_fig = plt.gcf()
self.domain_ax = self.domain_fig.add_axes([0, 0, 1, 1],
frameon=True,
aspect=1.)
ax = self.domain_ax
self.link1 = lines.Line2D([], [], linewidth=2, color='black')
self.link2 = lines.Line2D([], [], linewidth=2, color='blue')
ax.add_line(self.link1)
ax.add_line(self.link2)
# Allow room for pendulum to swing without getting cut off on graph
viewable_distance = self.LINK_LENGTH_1 + self.LINK_LENGTH_2 + 0.5
ax.set_xlim(-viewable_distance, +viewable_distance)
ax.set_ylim(-viewable_distance, viewable_distance)
# add bar
bar = lines.Line2D([-viewable_distance, viewable_distance],
[self.LINK_LENGTH_1, self.LINK_LENGTH_1],
linewidth=1,
color='red')
ax.add_line(bar)
# ax.set_aspect('equal')
plt.show()
if self.action_arrow is not None:
self.action_arrow.remove()
self.action_arrow = None
torque = self.AVAIL_TORQUE[a]
SHIFT = .5
if torque > 0: # counterclockwise torque
self.action_arrow = fromAtoB(SHIFT / 2.0,
.5 * SHIFT,
-SHIFT / 2.0,
-.5 * SHIFT,
'k',
connectionstyle="arc3,rad=+1.2",
ax=self.domain_ax)
elif torque < 0: # clockwise torque
self.action_arrow = fromAtoB(-SHIFT / 2.0,
.5 * SHIFT,
+SHIFT / 2.0,
-.5 * SHIFT,
'r',
connectionstyle="arc3,rad=-1.2",
ax=self.domain_ax)
# update pendulum arm on figure
p1 = [
-self.LINK_LENGTH_1 * np.cos(s[0]),
self.LINK_LENGTH_1 * np.sin(s[0])
]
self.link1.set_data([0., p1[1]], [0., p1[0]])
p2 = [
p1[0] - self.LINK_LENGTH_2 * np.cos(s[0] + s[1]),
p1[1] + self.LINK_LENGTH_2 * np.sin(s[0] + s[1])
]
self.link2.set_data([p1[1], p2[1]], [p1[0], p2[0]])
plt.draw()
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()
def _plot_state(self, fourDimState, a):
"""
:param fourDimState: Four-dimensional cartpole state
(``theta, thetaDot, x, xDot``)
:param a: force action on the cart
Visualizes the state of the cartpole - the force action on the cart
is displayed as an arrow (not including noise!)
"""
s = fourDimState
if (self.domain_fig is None or self.pendulumArm is None) or \
(self.cartBox is None or self.cartBlob is None): # Need to initialize the figure
self.domain_fig = pl.figure("Domain")
self.domain_ax = self.domain_fig.add_axes(
[0, 0, 1, 1], frameon=True, aspect=1.)
self.pendulumArm = lines.Line2D(
[],
[],
linewidth=self.PEND_WIDTH,
color='black')
self.cartBox = mpatches.Rectangle(
[0,
self.PENDULUM_PIVOT_Y - old_div(self.RECT_HEIGHT, 2.0)],
self.RECT_WIDTH,
self.RECT_HEIGHT,
alpha=.4)
self.cartBlob = mpatches.Rectangle(
[0,
self.PENDULUM_PIVOT_Y - old_div(self.BLOB_WIDTH, 2.0)],
self.BLOB_WIDTH,
self.BLOB_WIDTH,
alpha=.4)
self.domain_ax.add_patch(self.cartBox)
self.domain_ax.add_line(self.pendulumArm)
self.domain_ax.add_patch(self.cartBlob)
# Draw Ground
groundPath = mpath.Path(self.GROUND_VERTS)
groundPatch = mpatches.PathPatch(groundPath, hatch="//")
self.domain_ax.add_patch(groundPatch)
self.timeText = self.domain_ax.text(
self.POSITION_LIMITS[1],
self.LENGTH,
"")
self.rewardText = self.domain_ax.text(
self.POSITION_LIMITS[0],
self.LENGTH,
"")
# Allow room for pendulum to swing without getting cut off on graph
viewableDistance = self.LENGTH + 0.5
if self.POSITION_LIMITS[0] < -100 * self.LENGTH or self.POSITION_LIMITS[1] > 100 * self.LENGTH:
# We have huge position limits, limit the figure width so
# cart is still visible
self.domain_ax.set_xlim(-viewableDistance, viewableDistance)
else:
self.domain_ax.set_xlim(
self.POSITION_LIMITS[0] - viewableDistance,
self.POSITION_LIMITS[1] + viewableDistance)
self.domain_ax.set_ylim(-viewableDistance, viewableDistance)
# self.domain_ax.set_aspect('equal')
pl.show()
forceAction = self.AVAIL_FORCE[a]
curX = s[StateIndex.X]
curTheta = s[StateIndex.THETA]
pendulumBobX = curX + self.LENGTH * np.sin(curTheta)
pendulumBobY = self.PENDULUM_PIVOT_Y + self.LENGTH * np.cos(curTheta)
if self.DEBUG:
print('Pendulum Position: ', pendulumBobX, pendulumBobY)
# update pendulum arm on figure
self.pendulumArm.set_data(
[curX, pendulumBobX], [self.PENDULUM_PIVOT_Y, pendulumBobY])
self.cartBox.set_x(curX - old_div(self.RECT_WIDTH, 2.0))
self.cartBlob.set_x(curX - old_div(self.BLOB_WIDTH, 2.0))
if self.actionArrow is not None:
self.actionArrow.remove()
self.actionArrow = None
if forceAction == 0:
pass # no force
else: # cw or ccw torque
if forceAction > 0: # rightward force
self.actionArrow = fromAtoB(
curX - self.ACTION_ARROW_LENGTH - old_div(self.RECT_WIDTH, 2.0), 0,
curX - old_div(self.RECT_WIDTH, 2.0), 0,
'k', "arc3,rad=0",
0, 0, 'simple', ax=self.domain_ax
)
else: # leftward force
self.actionArrow = fromAtoB(
curX + self.ACTION_ARROW_LENGTH + old_div(self.RECT_WIDTH, 2.0), 0,
curX + old_div(self.RECT_WIDTH, 2.0), 0,
'r', "arc3,rad=0",
0, 0, 'simple', ax=self.domain_ax
)
self.domain_fig.canvas.draw()
