Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
Flatland
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Package Registry
Model registry
Operate
Environments
Terraform modules
Monitor
Incidents
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
elrichgro
Flatland
Commits
8b797348
Commit
8b797348
authored
5 years ago
by
hagrid67
Browse files
Options
Downloads
Patches
Plain Diff
added directional rails and arrows
parent
5a033fcf
No related branches found
Branches containing commit
No related tags found
Tags containing commit
No related merge requests found
Changes
1
Hide whitespace changes
Inline
Side-by-side
Showing
1 changed file
flatland/utils/rendertools.py
+133
-66
133 additions, 66 deletions
flatland/utils/rendertools.py
with
133 additions
and
66 deletions
flatland/utils/rendertools.py
+
133
−
66
View file @
8b797348
...
...
@@ -281,6 +281,16 @@ class RenderTool(object):
return
visitDest
def
plotPath
(
self
,
visitDest
):
"""
Given a
"
final
"
visit visitDest, plotPath recurses back through the path
using the visit.prev field (previous) to get back to the start of the path.
The path of transitions is plotted with arrows at 3/4 along the line.
The transition is plotted slightly to one side of the rail, so that
transitions in opposite directions are separate.
Currently, no attempt is made to make the transition arrows coincide
at corners, and they are straight only.
"""
rt
=
self
.
__class__
# Walk backwards from destination to origin
if
visitDest
is
not
None
:
...
...
@@ -306,7 +316,7 @@ class RenderTool(object):
visit
=
visit
.
prev
xyPrev
=
xy
def
renderEnv
(
self
,
show
=
False
,
curves
=
True
):
def
renderEnv
(
self
,
show
=
False
,
curves
=
True
,
spacing
=
False
,
arrows
=
False
,
agents
=
True
):
"""
Draw the environment using matplotlib.
Draw into the figure if provided.
...
...
@@ -332,7 +342,12 @@ class RenderTool(object):
color
=
sColor
)
def
drawTrans2
(
xyLine
,
xyCentre
,
rotation
,
sColor
=
"
gray
"
):
def
drawTrans2
(
xyLine
,
xyCentre
,
rotation
,
bDeadEnd
=
False
,
sColor
=
"
gray
"
,
bArrow
=
True
,
spacing
=
0.1
):
"""
gLine is a numpy 2d array of points,
in the plotting space / coords.
...
...
@@ -341,17 +356,56 @@ class RenderTool(object):
from x=0, y=0.5
to x=1, y=0.2
"""
xyMid
=
np
.
mean
(
xyLine
,
axis
=
0
)
dxy
=
xyMid
-
xyCentre
xyCorner
=
xyMid
+
dxy
dxy2
=
xyCentre
-
xyCorner
bStraight
=
rotation
in
[
0
,
2
]
if
bStraight
:
plt
.
plot
(
*
xyLine
.
T
,
color
=
sColor
)
dx
,
dy
=
np
.
squeeze
(
np
.
diff
(
xyLine
,
axis
=
0
))
*
spacing
/
2
if
bDeadEnd
:
xyLine2
=
array
([
xyLine
[
1
]
+
[
dy
,
dx
],
xyCentre
,
xyLine
[
1
]
-
[
dy
,
dx
],
])
plt
.
plot
(
*
xyLine2
.
T
,
color
=
sColor
)
else
:
xyLine2
=
xyLine
+
[
dy
,
dx
]
plt
.
plot
(
*
xyLine2
.
T
,
color
=
sColor
)
if
bArrow
:
xyMid
=
np
.
sum
(
xyLine2
*
[[
1
/
4
],
[
3
/
4
]],
axis
=
0
)
xyArrow
=
array
([
xyMid
+
[
-
dx
-
dy
,
+
dx
-
dy
],
xyMid
,
xyMid
+
[
-
dx
+
dy
,
-
dx
-
dy
]
])
plt
.
plot
(
*
xyArrow
.
T
,
color
=
sColor
)
else
:
xyMid
=
np
.
mean
(
xyLine
,
axis
=
0
)
dxy
=
xyMid
-
xyCentre
xyCorner
=
xyMid
+
dxy
if
rotation
==
1
:
rArcFactor
=
1
-
spacing
else
:
rArcFactor
=
1
+
spacing
dxy2
=
(
xyCentre
-
xyCorner
)
*
rArcFactor
# for scaling the arc
plt
.
plot
(
*
(
gArc
*
dxy2
+
xyCorner
).
T
,
color
=
sColor
)
if
bArrow
:
dx
,
dy
=
np
.
squeeze
(
np
.
diff
(
xyLine
,
axis
=
0
))
/
20
iArc
=
int
(
len
(
gArc
)
/
2
)
xyMid
=
xyCorner
+
gArc
[
iArc
]
*
dxy2
xyArrow
=
array
([
xyMid
+
[
-
dx
-
dy
,
+
dx
-
dy
],
xyMid
,
xyMid
+
[
-
dx
+
dy
,
-
dx
-
dy
]
])
plt
.
plot
(
*
xyArrow
.
T
,
color
=
sColor
)
RETrans
=
RailEnvTransitions
()
env
=
self
.
env
...
...
@@ -369,13 +423,14 @@ class RenderTool(object):
# Draw each cell independently
for
r
in
range
(
env
.
height
):
for
c
in
range
(
env
.
width
):
trans_
=
env
.
rail
[
r
][
c
]
# bounding box of the grid cell
x0
=
cell_size
*
c
# left
x1
=
cell_size
*
(
c
+
1
)
# right
y0
=
cell_size
*
-
r
# top
y1
=
cell_size
*
-
(
r
+
1
)
# bottom
# centres of cell edges
coords
=
[
((
x0
+
x1
)
/
2.0
,
y0
),
# N middle top
(
x1
,
(
y0
+
y1
)
/
2.0
),
# E middle right
...
...
@@ -383,83 +438,95 @@ class RenderTool(object):
(
x0
,
(
y0
+
y1
)
/
2.0
)
# W middle left
]
# cell centre
xyCentre
=
array
([
x0
,
y1
])
+
cell_size
/
2
# cell transition values
oCell
=
env
.
rail
[
r
,
c
]
# Special Case 7, with a single bit; terminate at center
nbits
=
0
tmp
=
oCell
while
tmp
>
0
:
nbits
+=
(
tmp
&
1
)
tmp
=
tmp
>>
1
# as above - move the from coord to the centre
# it's a dead env.
bDeadEnd
=
nbits
==
1
for
orientation
in
range
(
4
):
# ori is where we're heading
from_ori
=
(
orientation
+
2
)
%
4
# 0123=NESW -> 2301=SWNE
from_xy
=
coords
[
from_ori
]
# Special Case 7, with a single bit; terminate at center
nbits
=
0
tmp
=
trans_
# renderer.push()
# renderer.translate(c * CELL_PIXELS, r * CELL_PIXELS)
while
tmp
>
0
:
nbits
+=
(
tmp
&
1
)
tmp
=
tmp
>>
1
tMoves
=
RETrans
.
get_transitions
(
oCell
,
orientation
)
#
as above - move the from coord to the centre
# it's a dead env.
if
nbits
==
1
:
f
ro
m_xy
=
((
x0
+
x1
)
/
2.0
,
(
y0
+
y1
)
/
2.0
)
#
to_ori = (orientation + 2) % 4
for
to_ori
in
range
(
4
):
to_xy
=
coords
[
to_ori
]
ro
tation
=
(
to_ori
-
from_ori
)
%
4
# renderer.push()
# renderer.translate(c * CELL_PIXELS, r * CELL_PIXELS)
if
(
tMoves
[
to_ori
]):
# if we have this transition
if
True
:
tMoves
=
RETrans
.
get_transitions
(
oCell
,
orientation
)
if
bDeadEnd
:
drawTrans2
(
array
([
from_xy
,
to_xy
]),
xyCentre
,
rotation
,
bDeadEnd
=
True
,
spacing
=
spacing
)
# to_ori = (orientation + 2) % 4
for
to_ori
in
range
(
4
):
to_xy
=
coords
[
to_ori
]
rotation
=
(
to_ori
-
from_ori
)
%
4
else
:
if
(
tMoves
[
to_ori
]):
if
curves
:
drawTrans2
(
array
([
from_xy
,
to_xy
]),
xyCentre
,
rotation
)
drawTrans2
(
array
([
from_xy
,
to_xy
]),
xyCentre
,
rotation
,
spacing
=
spacing
,
bArrow
=
arrows
)
else
:
drawTrans
(
from_xy
,
to_xy
)
if
False
:
print
(
"
r,c,ori:
"
,
r
,
c
,
orientation
,
"
cell:
"
,
"
{0:b}
"
.
format
(
oCell
),
"
moves:
"
,
tMoves
,
"
from:
"
,
from_ori
,
from_xy
,
"
to:
"
,
to_ori
,
to_xy
,
"
cen:
"
,
*
xyCentre
,
"
rot:
"
,
rotation
,
)
if
False
:
print
(
"
r,c,ori:
"
,
r
,
c
,
orientation
,
"
cell:
"
,
"
{0:b}
"
.
format
(
oCell
),
"
moves:
"
,
tMoves
,
"
from:
"
,
from_ori
,
from_xy
,
"
to:
"
,
to_ori
,
to_xy
,
"
cen:
"
,
*
xyCentre
,
"
rot:
"
,
rotation
,
)
# Draw each agent + its orientation + its target
cmap
=
plt
.
get_cmap
(
'
hsv
'
,
lut
=
env
.
number_of_agents
+
1
)
for
i
in
range
(
env
.
number_of_agents
):
self
.
_draw_square
((
env
.
agents_position
[
i
][
1
]
*
cell_size
+
cell_size
/
2
,
-
env
.
agents_position
[
i
][
0
]
*
cell_size
-
cell_size
/
2
),
cell_size
/
8
,
cmap
(
i
))
for
i
in
range
(
env
.
number_of_agents
):
self
.
_draw_square
((
env
.
agents_target
[
i
][
1
]
*
cell_size
+
cell_size
/
2
,
-
env
.
agents_target
[
i
][
0
]
*
cell_size
-
cell_size
/
2
),
cell_size
/
3
,
[
c
for
c
in
cmap
(
i
)])
# orientation is a line connecting the center of the cell to the
# side of the square of the agent
new_position
=
env
.
_new_position
(
env
.
agents_position
[
i
],
env
.
agents_direction
[
i
])
new_position
=
((
new_position
[
0
]
+
env
.
agents_position
[
i
][
0
])
/
2
*
cell_size
,
(
new_position
[
1
]
+
env
.
agents_position
[
i
][
1
])
/
2
*
cell_size
)
plt
.
plot
([
env
.
agents_position
[
i
][
1
]
*
cell_size
+
cell_size
/
2
,
new_position
[
1
]
+
cell_size
/
2
],
[
-
env
.
agents_position
[
i
][
0
]
*
cell_size
-
cell_size
/
2
,
-
new_position
[
0
]
-
cell_size
/
2
],
color
=
cmap
(
i
),
linewidth
=
2.0
)
if
agents
:
cmap
=
plt
.
get_cmap
(
'
hsv
'
,
lut
=
env
.
number_of_agents
+
1
)
for
i
in
range
(
env
.
number_of_agents
):
self
.
_draw_square
((
env
.
agents_position
[
i
][
1
]
*
cell_size
+
cell_size
/
2
,
-
env
.
agents_position
[
i
][
0
]
*
cell_size
-
cell_size
/
2
),
cell_size
/
8
,
cmap
(
i
))
for
i
in
range
(
env
.
number_of_agents
):
self
.
_draw_square
((
env
.
agents_target
[
i
][
1
]
*
cell_size
+
cell_size
/
2
,
-
env
.
agents_target
[
i
][
0
]
*
cell_size
-
cell_size
/
2
),
cell_size
/
3
,
[
c
for
c
in
cmap
(
i
)])
# orientation is a line connecting the center of the cell to the
# side of the square of the agent
new_position
=
env
.
_new_position
(
env
.
agents_position
[
i
],
env
.
agents_direction
[
i
])
new_position
=
((
new_position
[
0
]
+
env
.
agents_position
[
i
][
0
])
/
2
*
cell_size
,
(
new_position
[
1
]
+
env
.
agents_position
[
i
][
1
])
/
2
*
cell_size
)
plt
.
plot
(
[
env
.
agents_position
[
i
][
1
]
*
cell_size
+
cell_size
/
2
,
new_position
[
1
]
+
cell_size
/
2
],
[
-
env
.
agents_position
[
i
][
0
]
*
cell_size
-
cell_size
/
2
,
-
new_position
[
0
]
-
cell_size
/
2
],
color
=
cmap
(
i
),
linewidth
=
2.0
)
plt
.
xlim
([
0
,
env
.
width
*
cell_size
])
plt
.
ylim
([
-
env
.
height
*
cell_size
,
0
])
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment