From 5ff4a7a86a75bd2f63746db134eac7dd87af1655 Mon Sep 17 00:00:00 2001
From: MLErik <baerenjesus@gmail.com>
Date: Thu, 26 Sep 2019 17:01:37 -0400
Subject: [PATCH] fixed orientation where x-axis was inverted in connection
point generation
---
examples/flatland_2_0_example.py | 14 ++---
flatland/envs/rail_generators.py | 98 ++++++++++++--------------------
2 files changed, 44 insertions(+), 68 deletions(-)
diff --git a/examples/flatland_2_0_example.py b/examples/flatland_2_0_example.py
index fc358a2a..ccfbecbd 100644
--- a/examples/flatland_2_0_example.py
+++ b/examples/flatland_2_0_example.py
@@ -32,16 +32,16 @@ speed_ration_map = {1.: 0.25, # Fast passenger train
env = RailEnv(width=50,
height=50,
- rail_generator=sparse_rail_generator(num_cities=3, # Number of cities in map (where train stations are)
- num_trainstations=100, # Number of possible start/targets on map
- min_node_dist=10, # Minimal distance of nodes
+ rail_generator=sparse_rail_generator(num_cities=9, # Number of cities in map (where train stations are)
+ num_trainstations=50, # Number of possible start/targets on map
+ min_node_dist=30, # Minimal distance of nodes
node_radius=4, # Proximity of stations to city center
num_neighb=3, # Number of connections to other cities/intersections
seed=15, # Random seed
- grid_mode=False,
+ grid_mode=True,
nr_parallel_tracks=2,
- connectin_points_per_side=100,
- max_nr_connection_directions=3,
+ connection_points_per_side=2,
+ max_nr_connection_directions=4,
),
schedule_generator=sparse_schedule_generator(),
number_of_agents=50,
@@ -114,7 +114,7 @@ for step in range(500):
# reward and whether their are done
next_obs, all_rewards, done, _ = env.step(action_dict)
env_renderer.render_env(show=True, show_observations=False, show_predictions=False)
- time.sleep(1)
+ time.sleep(10)
frame_step += 1
# Update replay buffer and train agent
for a in range(env.get_num_agents()):
diff --git a/flatland/envs/rail_generators.py b/flatland/envs/rail_generators.py
index b7ca0f4d..8c472cba 100644
--- a/flatland/envs/rail_generators.py
+++ b/flatland/envs/rail_generators.py
@@ -533,7 +533,7 @@ def random_rail_generator(cell_type_relative_proportion=[1.0] * 11) -> RailGener
def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, node_radius=2,
- num_neighb=3, nr_parallel_tracks=2, grid_mode=False, connectin_points_per_side=4,
+ num_neighb=3, nr_parallel_tracks=2, grid_mode=False, connection_points_per_side=4,
max_nr_connection_directions=2,
seed=0) -> RailGenerator:
"""
@@ -598,7 +598,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
# Set up connection points for all cities
connection_points, connection_info = _generate_node_connection_points(node_positions, node_radius,
- connectin_points_per_side,
+ connection_points_per_side,
max_nr_connection_directions)
# Connect the cities through the connection points
@@ -712,13 +712,13 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
for connection_idx in range(connections_per_direction[direction]):
if direction == 0:
connection_points_coordinates.append(
- (node_position[0] - node_size, node_position[1] + connection_slots[connection_idx]))
+ (node_position[0] + node_size, node_position[1] + connection_slots[connection_idx]))
if direction == 1:
connection_points_coordinates.append(
(node_position[0] + connection_slots[connection_idx], node_position[1] + node_size))
if direction == 2:
connection_points_coordinates.append(
- (node_position[0] + node_size, node_position[1] + connection_slots[connection_idx]))
+ (node_position[0] - node_size, node_position[1] + connection_slots[connection_idx]))
if direction == 3:
connection_points_coordinates.append(
(node_position[0] + connection_slots[connection_idx], node_position[1] - node_size))
@@ -737,61 +737,37 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
:param grid_map: Grid map
:return:
"""
-
- # Start at some node
- available_nodes = np.arange(len(node_positions))
- current_node = np.random.randint(len(available_nodes))
- node_stack = [current_node]
- open_nodes = np.copy(available_nodes)
boarder_connections = set()
- while len(open_nodes) > 0:
- if len(node_stack) > 0:
- current_node = node_stack[0]
- else:
- current_node = np.random.choice(open_nodes)
- node_stack.append(current_node)
- delete_idx = np.where(open_nodes == current_node)
- open_nodes = np.delete(open_nodes, delete_idx, 0)
-
- # Sort available neighbors according to their distance.
- node_dist = []
- for av_node in available_nodes:
- node_dist.append(distance_on_rail(node_positions[current_node], node_positions[av_node]))
- available_nodes = available_nodes[np.argsort(node_dist)]
-
- # Set number of neighboring
- allowed_connections = np.count_nonzero(connection_info[current_node])
-
- if len(available_nodes) >= allowed_connections:
- connected_neighb_idx = available_nodes[1:allowed_connections + 1]
- else:
- connected_neighb_idx = available_nodes
-
- # Connect to the neighboring nodes
- for neighb in connected_neighb_idx:
- if neighb not in node_stack and neighb in open_nodes:
- node_stack.append(neighb)
-
- dist_from_center = distance_on_rail(node_positions[current_node], node_positions[neighb])
- connection_distances = []
- for tmp_out_connection_point in connection_points[current_node]:
- tmp_dist_to_node = distance_on_rail(tmp_out_connection_point, node_positions[neighb])
- connection_distances.append(tmp_dist_to_node)
- possible_connection_points = argsort(connection_distances)
- for sort_idx in possible_connection_points[:nr_parallel_tracks]:
- # Find closest connection point
- tmp_out_connection_point = connection_points[current_node][sort_idx]
- min_connection_dist = np.inf
- for tmp_in_connection_point in connection_points[neighb]:
- tmp_dist = distance_on_rail(tmp_out_connection_point, tmp_in_connection_point)
- if tmp_dist < min_connection_dist:
- min_connection_dist = tmp_dist
- neighb_connection_point = tmp_in_connection_point
- connect_nodes(rail_trans, grid_map, tmp_out_connection_point, neighb_connection_point)
- boarder_connections.add((tmp_out_connection_point, current_node))
- boarder_connections.add((neighb_connection_point, neighb))
-
- node_stack.pop(0)
+ # Start at some node
+ for current_node in np.arange(len(node_positions)):
+ direction = 0
+ 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, direction, neighb_idx, connection_info[current_node])
+ else:
+ continue
+
+ if neighb_idx is not None:
+ connection_distances = []
+ for tmp_out_connection_point in connection_points[current_node]:
+ tmp_dist_to_node = distance_on_rail(tmp_out_connection_point, node_positions[neighb_idx])
+ connection_distances.append(tmp_dist_to_node)
+ possible_connection_points = argsort(connection_distances)
+ for sort_idx in possible_connection_points[:nr_parallel_tracks]:
+ # Find closest connection point
+ tmp_out_connection_point = connection_points[current_node][sort_idx]
+ min_connection_dist = np.inf
+ for tmp_in_connection_point in connection_points[neighb_idx]:
+ tmp_dist = distance_on_rail(tmp_out_connection_point, tmp_in_connection_point)
+ if tmp_dist < min_connection_dist:
+ min_connection_dist = tmp_dist
+ neighb_connection_point = tmp_in_connection_point
+ connect_nodes(rail_trans, grid_map, tmp_out_connection_point, neighb_connection_point)
+ boarder_connections.add((tmp_out_connection_point, current_node))
+ boarder_connections.add((neighb_connection_point, neighb_idx))
+ direction += 1
+
def _build_cities(node_positions, connection_points, rail_trans, grid_map):
# Place train stations close to the node
@@ -921,7 +897,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
def _closest_neigh_in_direction(current_node, direction, node_positions):
# Sort available neighbors according to their distance.
- available_nodes = np.arange(node_positions)
+ available_nodes = np.arange(len(node_positions))
node_dist = []
for av_node in available_nodes:
node_dist.append(distance_on_rail(node_positions[current_node], node_positions[av_node]))
@@ -931,7 +907,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
distance_0 = np.abs(node_positions[current_node][0] - node_positions[neighb][0])
distance_1 = np.abs(node_positions[current_node][1] - node_positions[neighb][1])
if direction == 0:
- if node_positions[neighb][0] < node_positions[current_node][0] and distance_1 <= distance_0:
+ if node_positions[neighb][0] > node_positions[current_node][0] and distance_1 <= distance_0:
return neighb
if direction == 1:
@@ -939,7 +915,7 @@ def sparse_rail_generator(num_cities=5, num_trainstations=2, min_node_dist=20, n
return neighb
if direction == 2:
- if node_positions[neighb][0] > node_positions[current_node][0] and distance_1 <= distance_0:
+ if node_positions[neighb][0] < node_positions[current_node][0] and distance_1 <= distance_0:
return neighb
if direction == 3:
--
GitLab