diff --git a/flatland/envs/env_utils.py b/flatland/envs/env_utils.py
index ee2c263711906370900c14a6030d57ada573c2ea..cc4a0015601d0f5820cccb25b6076a0a92f67915 100644
--- a/flatland/envs/env_utils.py
+++ b/flatland/envs/env_utils.py
@@ -10,7 +10,7 @@ import numpy as np
from flatland.core.transitions import Grid4TransitionsEnum
-def get_direction(pos1, pos2):
+def get_direction(pos1, pos2) -> Grid4TransitionsEnum:
"""
Assumes pos1 and pos2 are adjacent location on grid.
Returns direction (int) that can be used with transitions.
@@ -25,7 +25,7 @@ def get_direction(pos1, pos2):
return 1
if diff_1 < 0:
return 3
- return 0
+ raise Exception("Could not determine direction {}->{}".format(pos1, pos2))
def mirror(dir):
@@ -71,34 +71,71 @@ def validate_new_transition(rail_trans, rail_array, prev_pos, current_pos, new_p
return rail_trans.is_valid(new_trans)
-def position_to_coordinate(width, position):
- """
+def position_to_coordinate(depth, positions):
+ """Converts coordinates to positions:
+ [ (0,0) (0,1) .. (0,w-1)
+ (1,0) (1,1) (1,w-1)
+ ...
+ (d-1,0) (d-1,1) (d-1,w-1)
+ ]
+
+ -->
- :param width:
- :param position:
+ [ 0 d .. (w-1)*d
+ 1 d+1
+ ...
+ d-1 2d-1 w*d-1
+ ]
+
+ :param depth:
+ :param positions:
:return:
"""
coords = ()
- for p in position:
- coords = coords + ((int(p) % width, int(p) // width),) # changed x_dim to y_dim
+ for p in positions:
+ coords = coords + ((int(p) % depth, int(p) // depth),) # changed x_dim to y_dim
return coords
-def coordinate_to_position(width, coords):
+def coordinate_to_position(depth, coords):
"""
-
- :param width:
+ Converts positions to coordinates:
+ [ 0 d .. (w-1)*d
+ 1 d+1
+ ...
+ d-1 2d-1 w*d-1
+ ]
+ -->
+ [ (0,0) (0,1) .. (0,w-1)
+ (1,0) (1,1) (1,w-1)
+ ...
+ (d-1,0) (d-1,1) (d-1,w-1)
+ ]
+
+ :param depth:
:param coords:
:return:
"""
position = np.empty(len(coords), dtype=int)
idx = 0
for t in coords:
- position[idx] = int(t[1] * width + t[0])
+ position[idx] = int(t[1] * depth + t[0])
idx += 1
return position
+def get_new_position(position, movement):
+ """ Utility function that converts a compass movement over a 2D grid to new positions (r, c). """
+ if movement == Grid4TransitionsEnum.NORTH:
+ return (position[0] - 1, position[1])
+ elif movement == Grid4TransitionsEnum.EAST:
+ return (position[0], position[1] + 1)
+ elif movement == Grid4TransitionsEnum.SOUTH:
+ return (position[0] + 1, position[1])
+ elif movement == Grid4TransitionsEnum.WEST:
+ return (position[0], position[1] - 1)
+
+
class AStarNode():
"""A node class for A* Pathfinding"""
@@ -254,18 +291,6 @@ def distance_on_rail(pos1, pos2):
return abs(pos1[0] - pos2[0]) + abs(pos1[1] - pos2[1])
-def get_new_position(position, movement):
- """ Utility function that converts a compass movement over a 2D grid to new positions (r, c). """
- if movement == Grid4TransitionsEnum.NORTH:
- return (position[0] - 1, position[1])
- elif movement == Grid4TransitionsEnum.EAST:
- return (position[0], position[1] + 1)
- elif movement == Grid4TransitionsEnum.SOUTH:
- return (position[0] + 1, position[1])
- elif movement == Grid4TransitionsEnum.WEST:
- return (position[0], position[1] - 1)
-
-
def get_rnd_agents_pos_tgt_dir_on_rail(rail, num_agents):
"""
Given a `rail' GridTransitionMap, return a random placement of agents (initial position, direction and target).
diff --git a/flatland/envs/predictions.py b/flatland/envs/predictions.py
index 3fda7378771bf2b5cd20c7d065c9454d3e5629a5..43909669a67c527ae6fb935e22810eb47c9608cd 100644
--- a/flatland/envs/predictions.py
+++ b/flatland/envs/predictions.py
@@ -112,7 +112,7 @@ class ShortestPathPredictorForRailEnv(PredictionBuilder):
agents = self.env.agents
if handle:
agents = [self.env.agents[handle]]
- assert custom_args
+ assert custom_args is not None
distance_map = custom_args.get('distance_map')
assert distance_map is not None
diff --git a/tests/envs/__init__.py b/tests/envs/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/tests/envs/test_env_utils.py b/tests/envs/test_env_utils.py
new file mode 100644
index 0000000000000000000000000000000000000000..25952031c1384430421492244e096dbd29fc557e
--- /dev/null
+++ b/tests/envs/test_env_utils.py
@@ -0,0 +1,33 @@
+import numpy as np
+import pytest
+
+from flatland.core.transitions import Grid4TransitionsEnum
+from flatland.envs.env_utils import position_to_coordinate, coordinate_to_position, get_direction
+
+depth_to_test = 5
+positions_to_test = [0, 5, 1, 6, 20, 30]
+coordinates_to_test = [[0, 0], [0, 1], [1, 0], [1, 1], [0, 4], [0, 6]]
+
+
+def test_position_to_coordinate():
+ actual_coordinates = position_to_coordinate(depth_to_test, positions_to_test)
+ expected_coordinates = coordinates_to_test
+ assert np.array_equal(actual_coordinates, expected_coordinates), \
+ "converted positions {}, expected {}".format(actual_coordinates, expected_coordinates)
+
+
+def test_coordinate_to_position():
+ actual_positions = coordinate_to_position(depth_to_test, coordinates_to_test)
+ expected_positions = positions_to_test
+ assert np.array_equal(actual_positions, expected_positions), \
+ "converted positions {}, expected {}".format(actual_positions, expected_positions)
+
+
+def test_get_direction():
+ assert get_direction((0, 0), (0, 1)) == Grid4TransitionsEnum.EAST
+ assert get_direction((0, 0), (0, 2)) == Grid4TransitionsEnum.EAST
+ assert get_direction((0, 0), (1, 0)) == Grid4TransitionsEnum.SOUTH
+ assert get_direction((1, 0), (0, 0)) == Grid4TransitionsEnum.NORTH
+ assert get_direction((1, 0), (0, 0)) == Grid4TransitionsEnum.NORTH
+ with pytest.raises(Exception, match="Could not determine direction"):
+ get_direction((0, 0), (0, 0)) == Grid4TransitionsEnum.NORTH