From 2556ec1575caf2b4a51629a19602317104f118d9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mattias=20Ljungstr=C3=B6m?= <ml@mljx.io>
Date: Wed, 8 May 2019 17:18:35 +0200
Subject: [PATCH] bug fixes to complex rail gen
---
examples/play_model.py | 2 +-
flatland/envs/env_utils.py | 53 ++++++++++++++++---------------------
flatland/envs/generators.py | 9 ++++++-
3 files changed, 32 insertions(+), 32 deletions(-)
diff --git a/examples/play_model.py b/examples/play_model.py
index cba087bc..e69b312b 100644
--- a/examples/play_model.py
+++ b/examples/play_model.py
@@ -97,7 +97,7 @@ def main(render=True, delay=0.0):
# Example generate a random rail
env = RailEnv(width=15, height=15,
- rail_generator=complex_rail_generator(nr_start_goal=15, min_dist=5),
+ rail_generator=complex_rail_generator(nr_start_goal=20, min_dist=12),
number_of_agents=5)
if render:
diff --git a/flatland/envs/env_utils.py b/flatland/envs/env_utils.py
index 1ad6c6de..a1e46db6 100644
--- a/flatland/envs/env_utils.py
+++ b/flatland/envs/env_utils.py
@@ -14,27 +14,6 @@ import numpy as np
# from flatland.core.transition_map import GridTransitionMap
-class AStarNode():
- """A node class for A* Pathfinding"""
-
- def __init__(self, parent=None, pos=None):
- self.parent = parent
- self.pos = pos
- self.g = 0
- self.h = 0
- self.f = 0
-
- def __eq__(self, other):
- return self.pos == other.pos
-
- def update_if_better(self, other):
- if other.g < self.g:
- self.parent = other.parent
- self.g = other.g
- self.h = other.h
- self.f = other.f
-
-
def get_direction(pos1, pos2):
"""
Assumes pos1 and pos2 are adjacent location on grid.
@@ -98,6 +77,27 @@ def validate_new_transition(rail_trans, rail_array, prev_pos, current_pos, new_p
return rail_trans.is_valid(new_trans)
+class AStarNode():
+ """A node class for A* Pathfinding"""
+
+ def __init__(self, parent=None, pos=None):
+ self.parent = parent
+ self.pos = pos
+ self.g = 0
+ self.h = 0
+ self.f = 0
+
+ def __eq__(self, other):
+ return self.pos == other.pos
+
+ def update_if_better(self, other):
+ if other.g < self.g:
+ self.parent = other.parent
+ self.g = other.g
+ self.h = other.h
+ self.f = other.f
+
+
def a_star(rail_trans, rail_array, start, end):
"""
Returns a list of tuples as a path from the given start to end.
@@ -188,16 +188,9 @@ def a_star(rail_trans, rail_array, start, end):
# add the child to the open list
open_list.append(child)
- # no full path found, return partial path
+ # no full path found
if len(open_list) == 0:
- path = []
- current = current_node
- while current is not None:
- path.append(current.pos)
- current = current.parent
- # return reversed path
- # print("partial:", start, end, path[::-1])
- return path[::-1]
+ return []
def connect_rail(rail_trans, rail_array, start, end):
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 29f8c6f4..4f356e1c 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -77,6 +77,7 @@ def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
created_sanity = 0
sanity_max = 9000
while nr_created < nr_start_goal and created_sanity < sanity_max:
+ all_ok = False
for _ in range(sanity_max):
start = (np.random.randint(0, width), np.random.randint(0, height))
goal = (np.random.randint(0, height), np.random.randint(0, height))
@@ -103,8 +104,14 @@ def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
return True
if check_all_dist(sg_new):
+ all_ok = True
break
+ if not all_ok:
+ # we can might as well give up at this point
+ # print("\n> Complex Rail Gen: Sanity counter reached, giving up!")
+ break
+
new_path = connect_rail(rail_trans, rail_array, start, goal)
if len(new_path) >= 2:
nr_created += 1
@@ -116,7 +123,7 @@ def complex_rail_generator(nr_start_goal=1, min_dist=2, max_dist=99999, seed=0):
# print("failed...")
created_sanity += 1
- # print("Created #", len(start_goal), "pairs")
+ print("\n> Complex Rail Gen: Created #", len(start_goal), "pairs")
# print(start_goal)
agents_position = [sg[0] for sg in start_goal]
--
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