From 9a6efb0583d4952739805f708864735d84fdc17c Mon Sep 17 00:00:00 2001
From: Giacomo Spigler <spiglerg@gmail.com>
Date: Sun, 21 Apr 2019 17:23:16 +0200
Subject: [PATCH] added save/load gridmap for GridTransitionMap
---
examples/temporary_example.py | 32 ++++++------------
flatland/core/env_observation_builder.py | 16 ++++-----
flatland/core/transition_map.py | 43 +++++++++++++++++++++++-
3 files changed, 61 insertions(+), 30 deletions(-)
diff --git a/examples/temporary_example.py b/examples/temporary_example.py
index 1d13d2ce..662bfe94 100644
--- a/examples/temporary_example.py
+++ b/examples/temporary_example.py
@@ -9,24 +9,14 @@ from flatland.utils.rendertools import *
random.seed(0)
np.random.seed(0)
-"""
-transition_probability = [1.0, # empty cell - Case 0
- 3.0, # Case 1 - straight
- 1.0, # Case 2 - simple switch
- 3.0, # Case 3 - diamond drossing
- 2.0, # Case 4 - single slip
- 1.0, # Case 5 - double slip
- 1.0, # Case 6 - symmetrical
- 1.0] # Case 7 - dead end
-"""
transition_probability = [1.0, # empty cell - Case 0
1.0, # Case 1 - straight
- 0.5, # Case 2 - simple switch
- 0.2, # Case 3 - diamond drossing
+ 1.0, # Case 2 - simple switch
+ 0.3, # Case 3 - diamond drossing
0.5, # Case 4 - single slip
- 0.1, # Case 5 - double slip
+ 0.5, # Case 5 - double slip
0.2, # Case 6 - symmetrical
- 0.01] # Case 7 - dead end
+ 0.0] # Case 7 - dead end
# Example generate a random rail
env = RailEnv(width=20,
@@ -38,12 +28,12 @@ env.reset()
env_renderer = RenderTool(env)
env_renderer.renderEnv(show=True)
+"""
# Example generate a rail given a manual specification,
# a map of tuples (cell_type, rotation)
specs = [[(0, 0), (0, 0), (0, 0), (0, 0), (7, 0), (0, 0)],
[(7, 270), (1, 90), (1, 90), (1, 90), (2, 90), (7, 90)]]
-"""
env = RailEnv(width=6,
height=2,
rail_generator=rail_from_manual_specifications_generator(specs),
@@ -56,20 +46,20 @@ env.agents_target[0] = [1, 1]
env.agents_direction[0] = 1
# TODO: watch out: if these variables are overridden, the obs_builder object has to be reset, too!
env.obs_builder.reset()
-#"""
-
+"""
env = RailEnv(width=7,
height=7,
rail_generator=random_rail_generator(cell_type_relative_proportion=transition_probability),
number_of_agents=2)
-# TODO: delete next line
-#for i in range(4):
-# print(env.obs_builder.distance_map[0, :, :, i])
+# Print the distance map of each cell to the target of the first agent
+# for i in range(4):
+# print(env.obs_builder.distance_map[0, :, :, i])
+# Print the observation vector for agent 0
obs, all_rewards, done, _ = env.step({0:0})
for i in range(env.number_of_agents):
- env.obs_builder.util_print_obs_subtree(tree=obs[i], num_elements_per_node=5)
+ env.obs_builder.util_print_obs_subtree(tree=obs[i], num_features_per_node=5)
env_renderer = RenderTool(env)
env_renderer.renderEnv(show=True)
diff --git a/flatland/core/env_observation_builder.py b/flatland/core/env_observation_builder.py
index a0def07e..d7bee930 100644
--- a/flatland/core/env_observation_builder.py
+++ b/flatland/core/env_observation_builder.py
@@ -383,15 +383,15 @@ class TreeObsForRailEnv(ObservationBuilder):
return observation
- def util_print_obs_subtree(self, tree, num_elements_per_node=5, prompt='', current_depth=0):
+ def util_print_obs_subtree(self, tree, num_features_per_node=5, prompt='', current_depth=0):
"""
Utility function to pretty-print tree observations returned by this object.
"""
- if len(tree) < num_elements_per_node:
+ if len(tree) < num_features_per_node:
return
depth = 0
- tmp = len(tree)/num_elements_per_node-1
+ tmp = len(tree)/num_features_per_node-1
pow4 = 4
while tmp > 0:
tmp -= pow4
@@ -400,12 +400,12 @@ class TreeObsForRailEnv(ObservationBuilder):
prompt_ = ['L:', 'F:', 'R:', 'B:']
- print(" "*current_depth + prompt, tree[0:num_elements_per_node])
- child_size = (len(tree)-num_elements_per_node)//4
+ print(" "*current_depth + prompt, tree[0:num_features_per_node])
+ child_size = (len(tree)-num_features_per_node)//4
for children in range(4):
- child_tree = tree[(num_elements_per_node+children*child_size):
- (num_elements_per_node+(children+1)*child_size)]
+ child_tree = tree[(num_features_per_node+children*child_size):
+ (num_features_per_node+(children+1)*child_size)]
self.util_print_obs_subtree(child_tree,
- num_elements_per_node,
+ num_features_per_node,
prompt=prompt_[children],
current_depth=current_depth+1)
diff --git a/flatland/core/transition_map.py b/flatland/core/transition_map.py
index d3fcf5c8..73bb6eef 100644
--- a/flatland/core/transition_map.py
+++ b/flatland/core/transition_map.py
@@ -118,7 +118,7 @@ class GridTransitionMap(TransitionMap):
Width of the grid.
height : int
Height of the grid.
- transitions_class : Transitions object
+ transitions : Transitions object
The Transitions object to use to encode/decode transitions over the
grid.
@@ -243,6 +243,47 @@ class GridTransitionMap(TransitionMap):
return
self.transitions.set_transition(self.grid[cell_id[0]][cell_id[1]], cell_id[2], transition_index, new_transition)
+ def save_transition_map(self, filename):
+ """
+ Save the transitions grid as `filename', in npy format.
+
+ Parameters
+ ----------
+ filename : string
+ Name of the file to which to save the transitions grid.
+
+ """
+ np.save(filename, self.grid)
+
+ def load_transition_map(self, filename, override_gridsize=True):
+ """
+ Load the transitions grid from `filename' (npy format).
+ The load function only updates the transitions grid, and possibly width and height, but the object has to be
+ initialized with the correct `transitions' object anyway.
+
+ Parameters
+ ----------
+ filename : string
+ Name of the file from which to load the transitions grid.
+ override_gridsize : bool
+ If override_gridsize=True, the width and height of the GridTransitionMap object are replaced with the size
+ of the map loaded from `filename'. If override_gridsize=False, the transitions grid is either cropped (if
+ the grid size is larger than (height,width) ) or padded with zeros (if the grid size is smaller than (height,width) )
+
+ """
+ new_grid = np.load(filename)
+
+ new_height = new_grid.shape[0]
+ new_width = new_grid.shape[1]
+
+ if override_gridsize:
+ self.width = new_width
+ self.height = new_height
+ self.grid = new_grid
+
+ else:
+ self.grid = self.grid * 0
+ self.grid[0:min(self.height, new_height), 0:min(self.width, new_width)] = new_grid[0:min(self.height, new_height), 0:min(self.width, new_width)]
# TODO: GIACOMO: is it better to provide those methods with lists of cell_ids
# (most general implementation) or to make Grid-class specific methods for
--
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