From 75dd03bb4073e38403289e425b306d8d1b7ae7cc Mon Sep 17 00:00:00 2001
From: u214892 <u214892@sbb.ch>
Date: Wed, 12 Jun 2019 18:53:36 +0200
Subject: [PATCH] #64 bugfix prediction should respect target
---
flatland/envs/predictions.py | 12 ++++--
flatland/utils/editor.py | 3 +-
tests/test_env_prediction_builder.py | 57 ++++++++--------------------
3 files changed, 26 insertions(+), 46 deletions(-)
diff --git a/flatland/envs/predictions.py b/flatland/envs/predictions.py
index 3338e68..31c279f 100644
--- a/flatland/envs/predictions.py
+++ b/flatland/envs/predictions.py
@@ -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
diff --git a/flatland/utils/editor.py b/flatland/utils/editor.py
index d4e5c38..81565d6 100644
--- a/flatland/utils/editor.py
+++ b/flatland/utils/editor.py
@@ -323,7 +323,8 @@ class Controller(object):
def restartAgents(self, event):
self.log("Restart Agents - nAgents:", self.view.wRegenNAgents.value)
if self.model.init_agents_static is not None:
- self.model.env.agents_static = [EnvAgentStatic(d[0], d[1], d[2], moving=False) for d in self.model.init_agents_static]
+ self.model.env.agents_static = [EnvAgentStatic(d[0], d[1], d[2], moving=False) for d in
+ self.model.init_agents_static]
self.model.env.agents = None
self.model.init_agents_static = None
self.player = None
diff --git a/tests/test_env_prediction_builder.py b/tests/test_env_prediction_builder.py
index 35a6a27..5b0e830 100644
--- a/tests/test_env_prediction_builder.py
+++ b/tests/test_env_prediction_builder.py
@@ -65,7 +65,7 @@ def test_predictions():
rail_generator=rail_from_GridTransitionMap_generator(rail),
number_of_agents=1,
obs_builder_object=GlobalObsForRailEnv(),
- prediction_builder_object=DummyPredictorForRailEnv(max_depth=20)
+ prediction_builder_object=DummyPredictorForRailEnv(max_depth=10)
)
env.reset()
@@ -73,6 +73,7 @@ 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.predict()
positions = np.array(list(map(lambda prediction: [prediction[1], prediction[2]], predictions[0])))
@@ -89,18 +90,11 @@ 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.],
@@ -109,18 +103,11 @@ 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.],
@@ -132,15 +119,7 @@ def test_predictions():
[8.],
[9.],
[10.],
- [11.],
- [12.],
- [13.],
- [14.],
- [15.],
- [16.],
- [17.],
- [18.],
- [19.]])
+ ])
expected_actions = np.array([[0.],
[2.],
[2.],
@@ -149,18 +128,12 @@ 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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