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Commit f9dc9752 authored by Christian Eichenberger's avatar Christian Eichenberger :badminton:
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Merge branch '64-prediction-should-respect-target' into 'master' 

#64 bugfix prediction should respect target

Closes #64

See merge request flatland/flatland!61
parents 2671b903 28a2aed1
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flatland/envs/predictions.py
+ 9
− 3
View file @ f9dc9752
......@@ -45,10 +45,16 @@ class DummyPredictorForRailEnv(PredictionBuilder):
action_priorities = [RailEnvActions.MOVE_FORWARD, RailEnvActions.MOVE_LEFT, RailEnvActions.MOVE_RIGHT]
_agent_initial_position = agent.position
_agent_initial_direction = agent.direction
prediction = np.zeros(shape=(self.max_depth, 5))
prediction = np.zeros(shape=(self.max_depth + 1, 5))
prediction[0] = [0, _agent_initial_position[0], _agent_initial_position[1], _agent_initial_direction, 0]
for index in range(1, self.max_depth):
for index in range(1, self.max_depth + 1):
action_done = False
# if we're at the target, stop moving...
if agent.position == agent.target:
prediction[index] = [index, agent.target[0], agent.target[1], agent.direction,
RailEnvActions.STOP_MOVING]
continue
for action in action_priorities:
cell_isFree, new_cell_isValid, new_direction, new_position, transition_isValid = \
self.env._check_action_on_agent(action, agent)
......@@ -61,7 +67,7 @@ class DummyPredictorForRailEnv(PredictionBuilder):
action_done = True
break
if not action_done:
print("Cannot move further.")
raise Exception("Cannot move further. Something is wrong")
prediction_dict[agent.handle] = prediction
agent.position = _agent_initial_position
agent.direction = _agent_initial_direction
......
tests/test_env_prediction_builder.py
+ 15
− 42
View file @ f9dc9752
......@@ -64,7 +64,7 @@ def test_predictions():
height=rail_map.shape[0],
rail_generator=rail_from_GridTransitionMap_generator(rail),
number_of_agents=1,
obs_builder_object=TreeObsForRailEnv(max_depth=2, predictor=DummyPredictorForRailEnv(max_depth=20)),
obs_builder_object=TreeObsForRailEnv(max_depth=2, predictor=DummyPredictorForRailEnv(max_depth=10)),
)
env.reset()
......@@ -72,6 +72,7 @@ def test_predictions():
# set initial position and direction for testing...
env.agents[0].position = (5, 6)
env.agents[0].direction = 0
env.agents[0].target = (3., 0.)
predictions = env.obs_builder.predictor.get()
positions = np.array(list(map(lambda prediction: [prediction[1], prediction[2]], predictions[0])))
......@@ -88,18 +89,11 @@ def test_predictions():
[3., 3.],
[3., 2.],
[3., 1.],
# at target (3,0): stay in this position from here on
[3., 0.],
[3., 1.],
[3., 2.],
[3., 3.],
[3., 4.],
[3., 5.],
[3., 6.],
[3., 7.],
[3., 8.],
[3., 9.],
[3., 8.],
[3., 7.]])
[3., 0.],
[3., 0.],
])
expected_directions = np.array([[0.],
[0.],
[0.],
......@@ -108,18 +102,11 @@ def test_predictions():
[3.],
[3.],
[3.],
# at target (3,0): stay in this position from here on
[3.],
[1.],
[1.],
[1.],
[1.],
[1.],
[1.],
[1.],
[1.],
[1.],
[3.],
[3.]])
[3.]
])
expected_time_offsets = np.array([[0.],
[1.],
[2.],
......@@ -131,15 +118,7 @@ def test_predictions():
[8.],
[9.],
[10.],
[11.],
[12.],
[13.],
[14.],
[15.],
[16.],
[17.],
[18.],
[19.]])
])
expected_actions = np.array([[0.],
[2.],
[2.],
......@@ -148,18 +127,12 @@ def test_predictions():
[2.],
[2.],
[2.],
# reaching target by straight
[2.],
[2.],
[2.],
[2.],
[2.],
[2.],
[2.],
[2.],
[2.],
[2.],
[2.],
[2.]])
# at target: stopped moving
[4.],
[4.],
])
assert np.array_equal(positions, expected_positions)
assert np.array_equal(directions, expected_directions)
assert np.array_equal(time_offsets, expected_time_offsets)
......
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