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Commit 3ce07cf2 authored by Egli Adrian (IT-SCI-API-PFI)'s avatar Egli Adrian (IT-SCI-API-PFI)
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examples/Simple_Realistic_Railway_Generator.py
+ 62
− 27
View file @ 3ce07cf2
import copy
import os
import time
import warnings
import numpy as np
......@@ -138,25 +139,58 @@ def realistic_rail_generator(num_cities=5,
def create_switches_at_stations(rail_trans: RailEnvTransitions, grid_map: GridTransitionMap,
station_tracks: IntVector2DArrayType,
nodes_added: IntVector2DArrayType) -> IntVector2DArrayType:
for city_loop in range(len(station_tracks)):
datas = station_tracks[city_loop]
if len(datas) > 1:
a = datas[0]
if len(a) > 0:
start_node = a[np.random.choice(len(a) - 2) + 1]
for i in np.arange(1, len(datas)):
b = datas[i]
if len(b) > 2:
x = np.random.choice(len(b) - 2) + 1
end_node = b[x]
connection = connect_rail(rail_trans, grid_map, start_node, end_node)
if len(connection) == 0:
if print_out_info:
print("create_switches_at_stations : connect_rail -> no path found")
nodes_added.append(start_node)
nodes_added.append(end_node)
start_node = b[np.random.choice(len(b) - 2) + 1]
nodes_added: IntVector2DArrayType,
intern_nbr_of_switches_per_station_track: int) -> IntVector2DArrayType:
for k in range(intern_nbr_of_switches_per_station_track):
for city_loop in range(len(station_tracks)):
datas = station_tracks[city_loop]
if len(datas) > 1:
track = datas[0]
if len(track) > 3:
if k % 2 == 0:
x = 1
else:
x = len(track) - 2
start_node = track[x]
for i in np.arange(1, len(datas)):
track = datas[i]
if len(track) > 3:
if k % 2 == 0:
x = x + 2
if len(track) <= x:
x = 1
else:
x = x - 2
if x < 2:
x = len(track) - 2
end_node = track[x]
connection = connect_rail(rail_trans, grid_map, start_node, end_node)
print(start_node, end_node, "-->", connection)
if len(connection) == 0:
if print_out_info:
print("create_switches_at_stations : connect_rail -> no path found")
if len(datas[i-1])>0:
start_node = datas[i-1][0]
end_node = datas[i][0]
connection = connect_rail(rail_trans, grid_map, start_node, end_node)
nodes_added.append(start_node)
nodes_added.append(end_node)
if k % 2 == 0:
x = x + 2
if len(track) <= x:
x = 1
else:
x = x - 2
if x < 2:
x = len(track) - 2
start_node = track[x]
return nodes_added
......@@ -382,12 +416,13 @@ def realistic_rail_generator(num_cities=5,
# build switches
# TODO remove true/false block
if True:
create_switches_at_stations(rail_trans, grid_map, station_tracks, nodes_added)
create_switches_at_stations(rail_trans, grid_map, station_tracks, nodes_added,
intern_nbr_of_switches_per_station_track)
# ----------------------------------------------------------------------------------
# connect stations
# TODO remove true/false block
if True:
if False:
if do_random_connect_stations:
connect_random_stations(rail_trans, grid_map, s_nodes, e_nodes, nodes_added,
intern_connect_max_nbr_of_shortes_city)
......@@ -452,19 +487,19 @@ if os.path.exists("./../render_output/"):
np.random.seed(itrials)
env = RailEnv(width=40 + np.random.choice(100),
height=40 + np.random.choice(100),
rail_generator=realistic_rail_generator(num_cities=2 + np.random.choice(10),
rail_generator=realistic_rail_generator(num_cities=1000,
city_size=10 + np.random.choice(10),
allowed_rotation_angles=[0],
max_number_of_station_tracks=np.random.choice(4) + 4,
nbr_of_switches_per_station_track=np.random.choice(4) + 2,
connect_max_nbr_of_shortes_city=2,
allowed_rotation_angles=np.arange(-180, 180, 15),
max_number_of_station_tracks=1 + np.random.choice(4),
nbr_of_switches_per_station_track=2,
connect_max_nbr_of_shortes_city=2 + np.random.choice(4),
do_random_connect_stations=False,
# Number of cities in map
seed=itrials, # Random seed
print_out_info=True
),
schedule_generator=sparse_schedule_generator(),
number_of_agents=100,
number_of_agents=0,
obs_builder_object=GlobalObsForRailEnv())
# reset to initialize agents_static
......
flatland/core/grid/grid4_astar.py
+ 20
− 2
View file @ 3ce07cf2
import numpy as np
from matplotlib import pyplot as plt
from flatland.core.grid.grid_utils import IntVector2D
from flatland.core.grid.grid_utils import IntVector2DArrayType
from flatland.core.grid.grid_utils import Vec2dOperations as Vec2d
......@@ -31,12 +34,16 @@ class AStarNode:
def a_star(rail_trans: RailEnvTransitions,
grid_map: GridTransitionMap,
start: IntVector2D, end: IntVector2D) -> IntVector2DArrayType:
start: IntVector2D, end: IntVector2D,
a_star_distance_function=Vec2d.get_manhattan_distance) -> IntVector2DArrayType:
"""
Returns a list of tuples as a path from the given start to end.
If no path is found, returns path to closest point to end.
"""
rail_shape = grid_map.grid.shape
tmp = np.zeros(rail_shape) - 10
start_node = AStarNode(None, start)
end_node = AStarNode(None, end)
open_nodes = set()
......@@ -64,6 +71,14 @@ def a_star(rail_trans: RailEnvTransitions,
while current is not None:
path.append(current.pos)
current = current.parent
if False:
plt.ion()
plt.clf()
plt.imshow(tmp, interpolation='nearest')
plt.draw()
plt.pause(1e-17)
# return reversed path
return path[::-1]
......@@ -73,6 +88,7 @@ def a_star(rail_trans: RailEnvTransitions,
prev_pos = current_node.parent.pos
else:
prev_pos = None
for new_pos in [(0, -1), (0, 1), (-1, 0), (1, 0)]:
# update the "current" pos
node_pos = Vec2d.add(current_node.pos, new_pos)
......@@ -98,9 +114,11 @@ def a_star(rail_trans: RailEnvTransitions,
# create the f, g, and h values
child.g = current_node.g + 1.0
# this heuristic avoids diagonal paths
child.h = Vec2d.get_manhattan_distance(child.pos, end_node.pos)
child.h = a_star_distance_function(child.pos, end_node.pos)
child.f = child.g + child.h
tmp[child.pos[0]][child.pos[1]] = child.f
# already in the open list?
if child in open_nodes:
continue
......
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