From 3e902906f2d1bf5928cf8dd0d395ee2510b10d4b Mon Sep 17 00:00:00 2001
From: MLErik <baerenjesus@gmail.com>
Date: Wed, 14 Aug 2019 18:32:40 -0400
Subject: [PATCH] checking that targets don't end up on a connecting rail
---
flatland/envs/generators.py | 44 ++++++++-----------
...test_flatland_env_sparse_rail_generator.py | 6 +--
2 files changed, 22 insertions(+), 28 deletions(-)
diff --git a/flatland/envs/generators.py b/flatland/envs/generators.py
index 6d1205b3..81ee9a92 100644
--- a/flatland/envs/generators.py
+++ b/flatland/envs/generators.py
@@ -693,7 +693,7 @@ def realistic_rail_generator(nr_start_goal=1, nr_extra=100, min_dist=20, max_dis
return generator
-def sparse_rail_generator(nr_train_stations=1, nr_nodes=100, max_neigbours=2, min_node_dist=20, node_radius=2,
+def sparse_rail_generator(nr_nodes=100, max_neigbours=2, min_node_dist=20, node_radius=2,
seed=0):
'''
@@ -706,10 +706,6 @@ def sparse_rail_generator(nr_train_stations=1, nr_nodes=100, max_neigbours=2, mi
'''
def generator(width, height, num_agents, num_resets=0):
-
- if num_agents > nr_train_stations:
- num_agents = nr_train_stations
- warnings.warn("complex_rail_generator: num_agents > nr_start_goal, changing num_agents")
rail_trans = RailEnvTransitions()
grid_map = GridTransitionMap(width=width, height=height, transitions=rail_trans)
rail_array = grid_map.grid
@@ -780,26 +776,24 @@ def sparse_rail_generator(nr_train_stations=1, nr_nodes=100, max_neigbours=2, mi
height - 1)
target_y = np.clip(node_positions[start_target[1]][1] + np.random.randint(-node_radius, node_radius), 0,
width - 1)
- if agent_idx == 0:
- agents_position.append((start_x, start_y))
- agents_target.append((target_x, target_y))
- else:
- # Make sure we don't put to starts or targets on same cell
- while (start_x, start_y) in agents_position or (target_x, target_y) in agents_target:
- start_x = np.clip(node_positions[start_target[0]][0] + np.random.randint(-node_radius, node_radius),
- 0,
- height - 1)
- start_y = np.clip(node_positions[start_target[0]][1] + np.random.randint(-node_radius, node_radius),
- 0,
- width - 1)
- target_x = np.clip(
- node_positions[start_target[1]][0] + np.random.randint(-node_radius, node_radius), 0,
- height - 1)
- target_y = np.clip(
- node_positions[start_target[1]][1] + np.random.randint(-node_radius, node_radius), 0,
- width - 1)
- agents_position.append((start_x, start_y))
- agents_target.append((target_x, target_y))
+ # Make sure we don't put to starts or targets on same cell
+ while (start_x, start_y) in agents_position or (start_x, start_y) == node_positions[start_target[0]]:
+ start_x = np.clip(node_positions[start_target[0]][0] + np.random.randint(-node_radius, node_radius),
+ 0,
+ height - 1)
+ start_y = np.clip(node_positions[start_target[0]][1] + np.random.randint(-node_radius, node_radius),
+ 0,
+ width - 1)
+ while (target_x, target_y) in agents_target or (target_x, target_y) == node_positions[start_target[1]] or \
+ rail_array[(target_x, target_y)] != 0:
+ target_x = np.clip(
+ node_positions[start_target[1]][0] + np.random.randint(-node_radius, node_radius), 0,
+ height - 1)
+ target_y = np.clip(
+ node_positions[start_target[1]][1] + np.random.randint(-node_radius, node_radius), 0,
+ width - 1)
+ agents_position.append((start_x, start_y))
+ agents_target.append((target_x, target_y))
new_path = connect_to_nodes(rail_trans, rail_array, agents_position[agent_idx],
node_positions[start_target[0]])
new_path = connect_from_nodes(rail_trans, rail_array, node_positions[start_target[1]],
diff --git a/tests/test_flatland_env_sparse_rail_generator.py b/tests/test_flatland_env_sparse_rail_generator.py
index b64aaa64..54bee175 100644
--- a/tests/test_flatland_env_sparse_rail_generator.py
+++ b/tests/test_flatland_env_sparse_rail_generator.py
@@ -10,9 +10,9 @@ def test_sparse_rail_generator():
env = RailEnv(width=20,
height=20,
- rail_generator=sparse_rail_generator(nr_train_stations=3, nr_nodes=2, min_node_dist=5,
- node_radius=4),
- number_of_agents=3,
+ rail_generator=sparse_rail_generator(nr_nodes=5, min_node_dist=8,
+ node_radius=3),
+ number_of_agents=10,
obs_builder_object=GlobalObsForRailEnv())
# reset to initialize agents_static
env_renderer = RenderTool(env, gl="PILSVG", )
--
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