From 2b40ef62209d3ca0bc94ac85bb41a58a19c5779a Mon Sep 17 00:00:00 2001
From: Giacomo Spigler <spiglerg@gmail.com>
Date: Tue, 11 Jun 2019 11:24:01 +0200
Subject: [PATCH] fixed issue #60
---
examples/simple_example_3.py | 6 +++---
flatland/envs/observations.py | 31 ++++++++++++++++++++++---------
2 files changed, 25 insertions(+), 12 deletions(-)
diff --git a/examples/simple_example_3.py b/examples/simple_example_3.py
index 41fd5a31..1661ef65 100644
--- a/examples/simple_example_3.py
+++ b/examples/simple_example_3.py
@@ -7,8 +7,8 @@ from flatland.envs.observations import TreeObsForRailEnv
from flatland.envs.rail_env import RailEnv
from flatland.utils.rendertools import RenderTool
-random.seed(10)
-np.random.seed(10)
+random.seed(1)
+np.random.seed(1)
env = RailEnv(width=7,
height=7,
@@ -19,7 +19,7 @@ env = RailEnv(width=7,
# Print the observation vector for agent 0
obs, all_rewards, done, _ = env.step({0: 0})
for i in range(env.get_num_agents()):
- env.obs_builder.util_print_obs_subtree(tree=obs[i], num_features_per_node=5)
+ env.obs_builder.util_print_obs_subtree(tree=obs[i], num_features_per_node=7)
env_renderer = RenderTool(env, gl="PIL")
env_renderer.renderEnv(show=True, frames=True)
diff --git a/flatland/envs/observations.py b/flatland/envs/observations.py
index 5cc3f26d..2214544a 100644
--- a/flatland/envs/observations.py
+++ b/flatland/envs/observations.py
@@ -31,19 +31,32 @@ class TreeObsForRailEnv(ObservationBuilder):
self.location_has_agent = {}
self.location_has_agent_direction = {}
+ self.agents_previous_reset = None
+
def reset(self):
agents = self.env.agents
nAgents = len(agents)
- self.distance_map = np.inf * np.ones(shape=(nAgents, # self.env.number_of_agents,
- self.env.height,
- self.env.width,
- 4))
- self.max_dist = np.zeros(nAgents)
-
- self.max_dist = [self._distance_map_walker(agent.target, i) for i, agent in enumerate(agents)]
- # Update local lookup table for all agents' target locations
- self.location_has_target = {tuple(agent.target): 1 for agent in agents}
+ compute_distance_map = True
+ if self.agents_previous_reset is not None:
+ if nAgents == len(self.agents_previous_reset):
+ compute_distance_map = False
+ for i in range(nAgents):
+ if agents[i].target != self.agents_previous_reset[i].target:
+ compute_distance_map = True
+ self.agents_previous_reset = agents
+
+ if compute_distance_map:
+ self.distance_map = np.inf * np.ones(shape=(nAgents, # self.env.number_of_agents,
+ self.env.height,
+ self.env.width,
+ 4))
+ self.max_dist = np.zeros(nAgents)
+
+ self.max_dist = [self._distance_map_walker(agent.target, i) for i, agent in enumerate(agents)]
+
+ # Update local lookup table for all agents' target locations
+ self.location_has_target = {tuple(agent.target): 1 for agent in agents}
def _distance_map_walker(self, position, target_nr):
"""
--
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