def showDomain(self, a=0, s=None):
if s is None:
s = self.state
# Draw the environment
if self.domain_fig is None:
self.agent_fig = plt.figure("Domain")
self.domain_fig = plt.imshow(self.map,
cmap='GridWorld',
interpolation='nearest',
vmin=0,
vmax=5)
for i in range(0, len(self.goalArray0)):
plt.text(self.goalArray0[i][1], self.goalArray0[i][0], str(i))
plt.xticks(np.arange(self.COLS), fontsize=FONTSIZE)
plt.yticks(np.arange(self.ROWS), fontsize=FONTSIZE)
# pl.tight_layout()
self.agent_fig = plt.gca().plot(s[1],
s[0],
'kd',
markersize=20.0 - self.COLS)
plt.show()
self.agent_fig.pop(0).remove()
self.agent_fig = plt.figure("Domain")
#mapcopy = copy(self.map)
#mapcopy[s[0],s[1]] = self.AGENT
# self.domain_fig.set_data(mapcopy)
# Instead of '>' you can use 'D', 'o'
self.agent_fig = plt.gca().plot(s[1],
s[0],
'k>',
markersize=20.0 - self.COLS)
plt.draw()
def showDomain(self, a=None):
if a is not None:
a = self.actions[a]
T = np.empty((self.d, 2))
T[:, 0] = np.cos(self.theta)
T[:, 1] = np.sin(self.theta)
R = np.dot(self.P, T)
R1 = R - .5 * self.lengths[:, None] * T
R2 = R + .5 * self.lengths[:, None] * T
Rx = np.hstack([R1[:, 0], R2[:, 0]]) + self.pos_cm[0]
Ry = np.hstack([R1[:, 1], R2[:, 1]]) + self.pos_cm[1]
print(Rx)
print(Ry)
f = plt.figure("Swimmer Domain")
if not hasattr(self, "swimmer_lines"):
plt.plot(0., 0., "ro")
self.swimmer_lines = plt.plot(Rx, Ry)[0]
self.action_text = plt.text(-2, -8, str(a))
plt.xlim(-5, 15)
plt.ylim(-10, 10)
else:
self.swimmer_lines.set_data(Rx, Ry)
self.action_text.set_text(str(a))
plt.figure("Swimmer Domain").canvas.draw()
plt.figure("Swimmer Domain").canvas.flush_events()
def showDomain(self, a=0, s=None):
if s is None:
s = self.state
# Draw the environment
if self.domain_fig is None:
self.agent_fig = plt.figure("Domain")
self.domain_fig = plt.imshow(
self.map,
cmap='GridWorld',
interpolation='nearest',
vmin=0,
vmax=5)
for i in range(0, len(self.goalArray0)):
plt.text(self.goalArray0[i][1],self.goalArray0[i][0],str(i))
plt.xticks(np.arange(self.COLS), fontsize=FONTSIZE)
plt.yticks(np.arange(self.ROWS), fontsize=FONTSIZE)
# pl.tight_layout()
self.agent_fig = plt.gca(
).plot(s[1],
s[0],
'kd',
markersize=20.0 - self.COLS)
plt.show()
self.agent_fig.pop(0).remove()
self.agent_fig = plt.figure("Domain")
#mapcopy = copy(self.map)
#mapcopy[s[0],s[1]] = self.AGENT
# self.domain_fig.set_data(mapcopy)
# Instead of '>' you can use 'D', 'o'
self.agent_fig = plt.gca(
).plot(s[1],
s[0],
'k>',
markersize=20.0 - self.COLS)
plt.draw()
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):
s = self.state
if self.domain_fig is None:
plt.figure("Domain")
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 + (old_div(self.LOCATION_WIDTH, 2)) +
(self.dist_between_locations) * i for i in range(UAVLocation.SIZE - 1)]
self.location_coord.append(crashLocationX + old_div(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 range(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.figure("Domain").canvas.draw()
plt.figure("Domain").canvas.flush_events()
sleep(0.5)
