Added angle2

src/Geometry.jl

@@ -0,0 +1,16 @@
+module Geometry
+
+export angle2
+
+using StaticArrays: SVector
+
+function angle2(a::SVector{2,Float64}, b::SVector{2,Float64})
+    θ_a = atan(a[2], a[1])
+    θ_b = atan(b[2], b[1])
+
+    θ = θ_b - θ_a
+
+    return rem2pi(θ, RoundNearest)
+end
+
+end # module

src/RL.jl

@@ -10,7 +10,7 @@ using LoopVectorization: @turbo
 using Random: Random
 using ProgressMeter: @showprogress
 
-using ..ReCo: ReCo, Particle
+using ..ReCo: ReCo, Particle, angle2
 
 const INITIAL_REWARD = 0.0
 
@@ -45,10 +45,10 @@ mutable struct EnvParams
     function EnvParams(
         min_distance::Float64,
         max_distance::Float64;
-        n_v_actions::Int64=3,
+        n_v_actions::Int64=2,
         n_ω_actions::Int64=3,
         max_v::Float64=80.0,
-        max_ω::Float64=π / 1.5,
+        max_ω::Float64=π / 2,
         n_distance_states::Int64=2,
         n_direction_states::Int64=2,
     )
@@ -93,7 +93,7 @@ mutable struct EnvParams
             )
         end
 
-        direction_range = 0.0:(2 * π / n_direction_states):(2 * π)
+        direction_range = (-π):(2 * π / n_direction_states):π
 
         direction_state_space = Vector{DirectionState}(undef, n_direction_states)
 
@@ -347,7 +347,7 @@ function post_integration_hook(
             min_distance is not infinite, because otherwise
             env_direction_state would be nothing and this else block will not be called
             =#
-            direction = acos((r⃗₁₂[1] * co + r⃗₁₂[2] * si) / min_distance)
+            direction = angle2(SVector(co, si), r⃗₁₂)
 
             for direction_state in rl_params.env_params.direction_state_space
                 if direction in direction_state.interval
@@ -422,7 +422,7 @@ function run_rl(;
         end
 
         # Episode
-        run_sim(
+        ReCo.run_sim(
             dir; duration=episode_duration, seed=rand(1:typemax(Int64)), rl_params=rl_params
         )
 

src/ReCo.jl

@@ -18,7 +18,12 @@ import Base: wait
 include("PreVectors.jl")
 using .PreVectors
 
+include("Geometry.jl")
+using .Geometry
+
 include("Particle.jl")
+include("data.jl")
+include("setup.jl")
 
 include("Shape.jl")
 using .Shape
@@ -26,8 +31,6 @@ using .Shape
 include("RL.jl")
 using .RL
 
-include("data.jl")
-include("setup.jl")
 include("simulation.jl")
 include("run.jl")