diff --git a/examples/flatland_2_0_example.py b/examples/flatland_2_0_example.py
index ce1dda2dcf09223f0265ecada213d5d04ff249a2..ccfe5a1df8f869c5a45880a1fcc8c72295ddcac9 100644
--- a/examples/flatland_2_0_example.py
+++ b/examples/flatland_2_0_example.py
@@ -37,7 +37,7 @@ env = RailEnv(width=50,
min_node_dist=8, # Minimal distance of nodes
node_radius=3, # Proximity of stations to city center
seed=15, # Random seed
- grid_mode=True,
+ grid_mode=False,
max_connection_points_per_side=2,
max_nr_connection_directions=4
),
diff --git a/flatland/core/grid/grid4_astar.py b/flatland/core/grid/grid4_astar.py
index 8b7574354326d9897269eb0c4b4698ae9e22b145..f760e5dca0b0d27d214f18365839d6796acc1c31 100644
--- a/flatland/core/grid/grid4_astar.py
+++ b/flatland/core/grid/grid4_astar.py
@@ -91,17 +91,17 @@ def a_star(grid_map: GridTransitionMap,
if node_pos[0] >= rail_shape[0] or node_pos[0] < 0 or node_pos[1] >= rail_shape[1] or node_pos[1] < 0:
continue
- # Skip paths through forbidden regions.
- if forbidden_cells is not None:
- if node_pos in forbidden_cells and node_pos != start_node and node_pos != end_node:
- continue
-
# validate positions
#
if not grid_map.validate_new_transition(prev_pos, current_node.pos, node_pos, end_node.pos) and nice:
continue
# create new node
new_node = AStarNode(node_pos, current_node)
+
+ # Skip paths through forbidden regions.
+ if forbidden_cells is not None:
+ if node_pos in forbidden_cells and new_node != start_node and new_node != end_node:
+ continue
children.append(new_node)
# loop through children
diff --git a/flatland/envs/rail_generators.py b/flatland/envs/rail_generators.py
index 0ffbe00d31cdfb119dd7a325848092345b9c33a9..9e060986daa852c1231a725d1ee93469465cc896 100644
--- a/flatland/envs/rail_generators.py
+++ b/flatland/envs/rail_generators.py
@@ -575,7 +575,8 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
if grid_mode:
node_positions, city_cells = _generate_node_positions_grid_mode(nb_nodes, height, width)
else:
- node_positions = _generate_node_positions_not_grid_mode(nb_nodes, height, width)
+ node_positions, city_cells = _generate_node_positions_not_grid_mode(nb_nodes, height, width)
+ print(city_cells)
# reduce nb_nodes, _num_cities, _num_intersections if less were generated in not_grid_mode
nb_nodes = len(node_positions)
@@ -586,7 +587,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
max_nr_connection_directions)
# Connect the cities through the connection points
- _connect_cities(node_positions, connection_points, connection_info, rail_trans, grid_map)
+ _connect_cities(node_positions, connection_points, connection_info, city_cells, rail_trans, grid_map)
# Build inner cities
train_stations, built_num_trainstation = _build_cities(node_positions, connection_points, rail_trans, grid_map)
@@ -611,6 +612,8 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
def _generate_node_positions_not_grid_mode(nb_nodes, height, width):
node_positions = []
+ city_cells = []
+
for node_idx in range(nb_nodes):
to_close = True
tries = 0
@@ -627,6 +630,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
if not to_close:
node_positions.append((x_tmp, y_tmp))
+ city_cells.extend(_city_cells(node_positions[-1], node_radius))
tries += 1
if tries > 100:
@@ -636,7 +640,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
tries, nb_nodes))
break
- return node_positions
+ return node_positions, city_cells
def _generate_node_positions_grid_mode(nb_nodes, height, width):
nodes_ratio = height / width
@@ -645,12 +649,13 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
x_positions = np.linspace(node_radius, height - node_radius - 1, nodes_per_row, dtype=int)
y_positions = np.linspace(node_radius, width - node_radius - 1, nodes_per_col, dtype=int)
node_positions = []
- forbidden_cells = []
+ city_cells = []
for node_idx in range(nb_nodes):
x_tmp = x_positions[node_idx % nodes_per_row]
y_tmp = y_positions[node_idx // nodes_per_row]
node_positions.append((x_tmp, y_tmp))
- return node_positions, forbidden_cells
+ city_cells.extend(_city_cells(node_positions[-1], node_radius))
+ return node_positions, city_cells
def _generate_node_connection_points(node_positions, node_size, max_nr_connection_points=2,
max_nr_connection_directions=2):
@@ -673,7 +678,6 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
idx = 1
while len(connection_sides_idx) < max_nr_connection_directions and idx < len(neighb_dist):
current_closest_direction = direction_to_point(node_position, node_positions[closest_neighb_idx[idx]])
- print(node_position)
if current_closest_direction not in connection_sides_idx:
connection_sides_idx.append(current_closest_direction)
idx += 1
@@ -708,7 +712,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
connection_info.append(connections_per_direction)
return connection_points, connection_info
- def _connect_cities(node_positions, connection_points, connection_info, rail_trans, grid_map):
+ def _connect_cities(node_positions, connection_points, connection_info, city_cells, rail_trans, grid_map):
"""
Function to connect the different cities through their connection points
:param node_positions: Positions of city centers
@@ -724,8 +728,6 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
for nbr_connection_points in connection_info[current_node]:
if nbr_connection_points > 0:
neighb_idx = _closest_neigh_in_direction(current_node, direction, node_positions)
- print(current_node, node_positions[current_node], direction, neighb_idx,
- connection_info[current_node], connection_points[current_node])
else:
direction += 1
continue
@@ -745,7 +747,8 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
if tmp_dist < min_connection_dist:
min_connection_dist = tmp_dist
neighb_connection_point = tmp_in_connection_point
- connect_cities(rail_trans, grid_map, tmp_out_connection_point, neighb_connection_point, None)
+ connect_cities(rail_trans, grid_map, tmp_out_connection_point, neighb_connection_point,
+ city_cells)
boarder_connections.add((tmp_out_connection_point, current_node))
boarder_connections.add((neighb_connection_point, neighb_idx))
direction += 1
@@ -924,7 +927,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
city_cells = []
for x in range(-radius, radius):
for y in range(-radius, radius):
- city_cells.append(center[0] + x, center[1] + y)
+ city_cells.append((center[0] + x, center[1] + y))
return city_cells