From 672d1169b2a028af0d1fff2425908a003844d0ae Mon Sep 17 00:00:00 2001
From: MLErik <baerenjesus@gmail.com>
Date: Wed, 25 Sep 2019 15:14:52 -0400
Subject: [PATCH] fixed how a-start works. we can now force it to ignore
illegal rail elements. This might be a bit dangerous as you need to fix them
later one ( done in current code). Maybe better suggestions here!?
---
examples/flatland_2_0_example.py | 8 +++----
flatland/core/grid/grid4_astar.py | 7 +++----
flatland/envs/grid4_generators_utils.py | 7 +++++--
flatland/envs/rail_env.py | 1 +
flatland/envs/rail_generators.py | 28 ++++++-------------------
5 files changed, 19 insertions(+), 32 deletions(-)
diff --git a/examples/flatland_2_0_example.py b/examples/flatland_2_0_example.py
index 2334450c..5c112434 100644
--- a/examples/flatland_2_0_example.py
+++ b/examples/flatland_2_0_example.py
@@ -32,14 +32,14 @@ speed_ration_map = {1.: 0.25, # Fast passenger train
env = RailEnv(width=50,
height=50,
- rail_generator=sparse_rail_generator(num_cities=9, # Number of cities in map (where train stations are)
+ rail_generator=sparse_rail_generator(num_cities=10, # Number of cities in map (where train stations are)
num_intersections=0, # Number of intersections (no start / target)
- num_trainstations=15, # Number of possible start/targets on map
+ num_trainstations=50, # Number of possible start/targets on map
min_node_dist=10, # Minimal distance of nodes
node_radius=4, # Proximity of stations to city center
- num_neighb=2, # Number of connections to other cities/intersections
+ num_neighb=3, # Number of connections to other cities/intersections
seed=15, # Random seed
- grid_mode=False,
+ grid_mode=True,
enhance_intersection=False
),
schedule_generator=sparse_schedule_generator(),
diff --git a/flatland/core/grid/grid4_astar.py b/flatland/core/grid/grid4_astar.py
index 3a75aa81..3b6de032 100644
--- a/flatland/core/grid/grid4_astar.py
+++ b/flatland/core/grid/grid4_astar.py
@@ -1,5 +1,3 @@
-import numpy as np
-
from flatland.core.grid.grid_utils import IntVector2D, IntVector2DDistance
from flatland.core.grid.grid_utils import IntVector2DArray
from flatland.core.grid.grid_utils import Vec2dOperations as Vec2d
@@ -39,7 +37,7 @@ class AStarNode:
def a_star(grid_map: GridTransitionMap,
start: IntVector2D, end: IntVector2D,
- a_star_distance_function: IntVector2DDistance = Vec2d.get_manhattan_distance) -> IntVector2DArray:
+ a_star_distance_function: IntVector2DDistance = Vec2d.get_manhattan_distance, nice=True) -> IntVector2DArray:
"""
Returns a list of tuples as a path from the given start to end.
If no path is found, returns path to closest point to end.
@@ -93,7 +91,8 @@ def a_star(grid_map: GridTransitionMap,
continue
# validate positions
- if not grid_map.validate_new_transition(prev_pos, current_node.pos, node_pos, end_node.pos):
+ #
+ if not grid_map.validate_new_transition(prev_pos, current_node.pos, node_pos, end_node.pos) and nice:
continue
# create new node
diff --git a/flatland/envs/grid4_generators_utils.py b/flatland/envs/grid4_generators_utils.py
index fce3ffdf..72b59d8c 100644
--- a/flatland/envs/grid4_generators_utils.py
+++ b/flatland/envs/grid4_generators_utils.py
@@ -19,14 +19,16 @@ def connect_basic_operation(
end: IntVector2D,
flip_start_node_trans=False,
flip_end_node_trans=False,
+ nice=True,
a_star_distance_function: IntVector2DDistance = Vec2d.get_manhattan_distance) -> IntVector2DArray:
"""
Creates a new path [start,end] in `grid_map.grid`, based on rail_trans, and
returns the path created as a list of positions.
"""
# in the worst case we will need to do a A* search, so we might as well set that up
- path: IntVector2DArray = a_star(grid_map, start, end, a_star_distance_function)
+ path: IntVector2DArray = a_star(grid_map, start, end, a_star_distance_function, nice)
if len(path) < 2:
+ print("No path found", path)
return []
current_dir = get_direction(path[0], path[1])
end_pos = path[-1]
@@ -54,6 +56,7 @@ def connect_basic_operation(
new_trans = rail_trans.set_transition(new_trans, mirror(new_dir), mirror(current_dir), 1)
grid_map.grid[current_pos] = new_trans
+
if new_pos == end_pos:
# setup end pos setup
new_trans_e = grid_map.grid[end_pos]
@@ -81,7 +84,7 @@ def connect_rail(rail_trans: RailEnvTransitions, grid_map: GridTransitionMap,
def connect_nodes(rail_trans: RailEnvTransitions, grid_map: GridTransitionMap,
start: IntVector2D, end: IntVector2D,
a_star_distance_function: IntVector2DDistance = Vec2d.get_manhattan_distance) -> IntVector2DArray:
- return connect_basic_operation(rail_trans, grid_map, start, end, False, False, a_star_distance_function)
+ return connect_basic_operation(rail_trans, grid_map, start, end, False, False, False, a_star_distance_function)
def connect_from_nodes(rail_trans: RailEnvTransitions, grid_map: GridTransitionMap,
diff --git a/flatland/envs/rail_env.py b/flatland/envs/rail_env.py
index 86277431..5472f0c5 100644
--- a/flatland/envs/rail_env.py
+++ b/flatland/envs/rail_env.py
@@ -252,6 +252,7 @@ class RailEnv(Environment):
rc_pos = (r, c)
check = self.rail.cell_neighbours_valid(rc_pos, True)
if not check:
+ self.rail.fix_transitions(rc_pos)
warnings.warn("Invalid grid at {} -> {}".format(rc_pos, check))
if replace_agents:
diff --git a/flatland/envs/rail_generators.py b/flatland/envs/rail_generators.py
index c0721f62..5f1d2f5a 100644
--- a/flatland/envs/rail_generators.py
+++ b/flatland/envs/rail_generators.py
@@ -595,16 +595,15 @@ def sparse_rail_generator(num_cities=5, num_intersections=4, num_trainstations=2
# Chose node connection
# Set up list of available nodes to connect to
- available_nodes_full = np.arange(nb_nodes)
- available_cities = np.arange(_num_cities)
- available_intersections = np.arange(_num_cities, nb_nodes)
+ available_nodes = np.arange(nb_nodes)
- # Set up connection points
+ # Set up connection points for all cities
connection_points = _generate_node_connection_points(node_positions, node_radius, max_nr_connection_points=8)
+
# Start at some node
- current_node = np.random.randint(len(available_nodes_full))
+ current_node = np.random.randint(len(available_nodes))
node_stack = [current_node]
- open_nodes = np.copy(available_nodes_full)
+ open_nodes = np.copy(available_nodes)
allowed_connections = num_neighb
i = 0
boarder_connections = set()
@@ -617,22 +616,6 @@ def sparse_rail_generator(num_cities=5, num_intersections=4, num_trainstations=2
delete_idx = np.where(open_nodes == current_node)
open_nodes = np.delete(open_nodes, delete_idx, 0)
- # Priority city to intersection connections
- if current_node < _num_cities and len(available_intersections) > 0:
- available_nodes = available_intersections
- delete_idx = np.where(available_cities == current_node)
- # available_cities = np.delete(available_cities, delete_idx, 0)
-
- # Priority intersection to city connections
- elif current_node >= _num_cities and len(available_cities) > 0:
- available_nodes = available_cities
- delete_idx = np.where(available_intersections == current_node)
- # available_intersections = np.delete(available_intersections, delete_idx, 0)
-
- # If no options possible connect to whatever node is still available
- else:
- available_nodes = available_nodes_full
-
# Sort available neighbors according to their distance.
node_dist = []
for av_node in available_nodes:
@@ -764,6 +747,7 @@ def sparse_rail_generator(num_cities=5, num_intersections=4, num_trainstations=2
for tbd in to_be_deleted:
boarder_connections.remove(tbd)
+ print(boarder_connections)
# Fix all nodes with illegal transition maps
flat_trainstation_list = [item for sublist in train_stations for item in sublist]
for cell_to_fix in flat_trainstation_list:
--
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