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https://gitlab.rlp.net/mobitar/ReCo.jl.git
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140 lines
4.2 KiB
Julia
140 lines
4.2 KiB
Julia
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export LocalCOMEnv
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struct LocalCOMEnv <: Env
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params::EnvParams
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distance_state_space::Vector{Interval}
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direction_angle_state_space::Vector{Interval}
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max_distance::Float64
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function LocalCOMEnv(
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sim_consts; n_distance_states::Int64=3, n_direction_angle_states::Int64=3
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)
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@assert n_direction_angle_states > 1
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direction_angle_state_space = gen_angle_state_space(n_direction_angle_states)
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min_distance = 0.0
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max_distance = sim_consts.skin_r
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distance_state_space = gen_distance_state_space(
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min_distance, max_distance, n_distance_states
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)
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n_states = n_distance_states * n_direction_angle_states + 1
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state_space = Vector{SVector{2,Interval}}(undef, n_states - 1)
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ind = 1
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for distance_state in distance_state_space
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for direction_angle_state in direction_angle_state_space
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state_space[ind] = SVector(distance_state, direction_angle_state)
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ind += 1
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end
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end
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# Last state is when no particle is in the skin radius
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params = EnvParams(n_states, state_space)
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return new(params, distance_state_space, direction_angle_state_space, max_distance)
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end
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end
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struct LocalCOMEnvHelper <: EnvHelper
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params::EnvHelperParams
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vec_to_neighbour_sums::Vector{SVector{2,Float64}}
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n_neighbours::Vector{Int64}
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function LocalCOMEnvHelper(params::EnvHelperParams)
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return new(
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params, fill(SVector(0.0, 0.0), params.n_particles), fill(0, params.n_particles)
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)
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end
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end
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function gen_env_helper(::LocalCOMEnv, env_helper_params::EnvHelperParams)
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return LocalCOMEnvHelper(env_helper_params)
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end
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function pre_integration_hook(env_helper::LocalCOMEnvHelper)
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@simd for id in 1:(env_helper.params.n_particles)
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env_helper.vec_to_neighbour_sums[id] = SVector(0.0, 0.0)
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env_helper.n_neighbours[id] = 0
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end
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return nothing
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end
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function state_update_helper_hook(
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env_helper::LocalCOMEnvHelper, id1::Int64, id2::Int64, r⃗₁₂::SVector{2,Float64}
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)
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env_helper.vec_to_neighbour_sums[id1] += r⃗₁₂
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env_helper.vec_to_neighbour_sums[id2] -= r⃗₁₂
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env_helper.n_neighbours[id1] += 1
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env_helper.n_neighbours[id2] += 1
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return nothing
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end
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function state_update_hook(env_helper::LocalCOMEnvHelper, particles::Vector{Particle})
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n_particles = env_helper.params.n_particles
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@turbo for id in 1:(n_particles)
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env_helper.params.old_states_ind[id] = env_helper.params.states_ind[id]
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end
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env = env_helper.params.env
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for id in 1:n_particles
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n_neighbours = env_helper.n_neighbours[id]
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if n_neighbours == 0
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state_ind = env.params.n_states
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else
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vec_to_local_center_of_mass =
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env_helper.vec_to_neighbour_sums[id] / n_neighbours
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distance = sqrt(
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vec_to_local_center_of_mass[1]^2 + vec_to_local_center_of_mass[2]^2
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)
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distance_state = find_state_interval(distance, env.distance_state_space)
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si, co = sincos(particles[id].φ)
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direction_angle = angle2(SVector(co, si), vec_to_local_center_of_mass)
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direction_angle_state = find_state_interval(
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direction_angle, env.direction_angle_state_space
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)
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state = SVector{2,Interval}(distance_state, direction_angle_state)
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state_ind = find_state_ind(state, env.params.state_space)
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end
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env_helper.params.states_ind[id] = state_ind
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end
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return nothing
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end
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function update_reward!(env::LocalCOMEnv, env_helper::LocalCOMEnvHelper, particle::Particle)
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id = particle.id
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normalization = (env.max_distance * env_helper.params.n_particles)
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n_neighbours = env_helper.n_neighbours[id]
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if n_neighbours == 0
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env.params.reward = -(env.max_distance^2) / normalization
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else
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vec_to_local_center_of_mass = env_helper.vec_to_neighbour_sums[id] / n_neighbours # TODO: Reuse vec_to_local_center_of_mass from state_update_hook
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env.params.reward =
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-(vec_to_local_center_of_mass[1]^2 + vec_to_local_center_of_mass[2]^2) /
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normalization
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end
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return nothing
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end
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