diff --git a/flatland/envs/predictions.py b/flatland/envs/predictions.py
index 3338e68126ee9a198e0208e17b1986f1c9fde6c8..31c279fd7257ecd7716cd10e4fa34330cf1c98a5 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/tests/test_env_prediction_builder.py b/tests/test_env_prediction_builder.py
index a1c951d31f7121a8445f4309c31ce58653c7e463..cb7d26df75017b8a531ff6552eb6c1651c80a08f 100644
--- a/tests/test_env_prediction_builder.py
+++ b/tests/test_env_prediction_builder.py
@@ -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)