From f1b634716fe152bfdd7809ec6935464700ffb7d5 Mon Sep 17 00:00:00 2001
From: Erik Nygren <erik.nygren@sbb.ch>
Date: Fri, 3 May 2019 11:46:43 +0200
Subject: [PATCH] updated orientation of initial tree branch in
env_observation_builder.py
---
flatland/core/env_observation_builder.py | 11 +++++++----
1 file changed, 7 insertions(+), 4 deletions(-)
diff --git a/flatland/core/env_observation_builder.py b/flatland/core/env_observation_builder.py
index edd9cae7..a6fbae6d 100644
--- a/flatland/core/env_observation_builder.py
+++ b/flatland/core/env_observation_builder.py
@@ -82,8 +82,7 @@ class TreeObsForRailEnv(ObservationBuilder):
"""
# Returns max distance to target, from the farthest away node, while filling in distance_map
- for ori in range(4):
- self.distance_map[target_nr, position[0], position[1], ori] = 0
+ self.distance_map[target_nr, position[0], position[1], :] = 0
# Fill in the (up to) 4 neighboring nodes
# nodes_queue = [] # list of tuples (row, col, direction, distance);
@@ -237,14 +236,18 @@ class TreeObsForRailEnv(ObservationBuilder):
position = self.env.agents_position[handle]
orientation = self.env.agents_direction[handle]
possible_transitions = self.env.rail.get_transitions((position[0], position[1], orientation))
-
+ num_transitions = np.count_nonzero(possible_transitions)
# Root node - current position
observation = [0, 0, 0, 0, self.distance_map[handle, position[0], position[1], orientation]]
root_observation = observation[:]
# Start from the current orientation, and see which transitions are available;
# organize them as [left, forward, right, back], relative to the current orientation
- # TODO: Adjust this to the novel movement dynamics --> Only Forward present when one transition is possible.
+ # If only one transition is possible, the tree is oriented with this transition as the forward branch.
+ # TODO: Test if this works as desired!
+ if num_transitions == 1:
+ orientation == np.argmax(possible_transitions)
+
for branch_direction in [(orientation + 4 + i) % 4 for i in range(-1, 3)]:
if possible_transitions[branch_direction]:
new_cell = self._new_position(position, branch_direction)
--
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