mirror of
https://gitlab.rlp.net/mobitar/ReCo.jl.git
synced 2024-12-21 00:51:21 +00:00
Added state_id_tensor
This commit is contained in:
Mo8it
parent
28fd6bab95
commit
614311b080
5 changed files with 47 additions and 53 deletions
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@ -1,26 +1,26 @@
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abstract type Env <: AbstractEnv end
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mutable struct EnvSharedProps{state_dims}
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mutable struct EnvSharedProps{n_state_dims}
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n_actions::Int64
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action_space::Vector{SVector{2,Float64}}
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action_ind_space::OneTo{Int64}
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action_id_space::OneTo{Int64}
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n_states::Int64
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state_space::Vector{SVector{state_dims,Interval}}
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state_ind_space::OneTo{Int64}
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state_ind::Int64
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state_id_tensor::Array{Int64,n_state_dims}
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state_id_space::OneTo{Int64}
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state_id::Int64
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reward::Float64
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terminated::Bool
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function EnvSharedProps(
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n_states::Int64,
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state_space::Vector{SVector{state_dims,Interval}};
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n_states::Int64, # Can be different from the sum of state_id_tensor_dims
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state_id_tensor_dims::NTuple{n_state_dims,Int64};
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n_v_actions::Int64=2,
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n_ω_actions::Int64=3,
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max_v::Float64=40.0,
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max_ω::Float64=π / 2,
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) where {state_dims}
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) where {n_state_dims}
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@assert n_v_actions > 1
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@assert n_ω_actions > 1
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@assert max_v > 0
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@ -41,17 +41,25 @@ mutable struct EnvSharedProps{state_dims}
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end
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end
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action_ind_space = OneTo(n_actions)
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action_id_space = OneTo(n_actions)
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state_ind_space = OneTo(n_states)
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state_id_tensor = Array{Int64,n_state_dims}(undef, state_id_tensor_dims)
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return new{state_dims}(
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id = 1
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for ind in eachindex(state_id_tensor)
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state_id_tensor[ind] = id
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id += 1
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end
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state_id_space = OneTo(n_states)
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return new{n_state_dims}(
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n_actions,
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action_space,
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action_ind_space,
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action_id_space,
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n_states,
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state_space,
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state_ind_space,
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state_id_tensor,
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state_id_space,
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INITIAL_STATE_IND,
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INITIAL_REWARD,
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false,
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@ -65,11 +73,11 @@ function reset!(env::Env)
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return nothing
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end
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RLBase.state_space(env::Env) = env.shared.state_ind_space
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RLBase.state_space(env::Env) = env.shared.state_id_space
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RLBase.state(env::Env) = env.shared.state_ind
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RLBase.state(env::Env) = env.shared.state_id
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RLBase.action_space(env::Env) = env.shared.action_ind_space
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RLBase.action_space(env::Env) = env.shared.action_id_space
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RLBase.reward(env::Env) = env.shared.reward
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@ -11,11 +11,11 @@ struct EnvHelperSharedProps{H<:AbstractHook}
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n_particles::Int64
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old_states_ind::Vector{Int64}
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states_ind::Vector{Int64}
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old_states_id::Vector{Int64}
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states_id::Vector{Int64}
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actions::Vector{SVector{2,Float64}}
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actions_ind::Vector{Int64}
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actions_id::Vector{Int64}
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function EnvHelperSharedProps(
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env::Env,
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@ -27,16 +27,16 @@ function update_table_and_actions_hook(
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if !first_integration_step
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# Old state
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env.shared.state_ind = env_helper.shared.old_states_ind[id]
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env.shared.state_id = env_helper.shared.old_states_id[id]
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action_ind = env_helper.shared.actions_ind[id]
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action_id = env_helper.shared.actions_id[id]
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# Pre act
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agent(PRE_ACT_STAGE, env, action_ind)
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hook(PRE_ACT_STAGE, agent, env, action_ind)
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agent(PRE_ACT_STAGE, env, action_id)
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hook(PRE_ACT_STAGE, agent, env, action_id)
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# Update to current state
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env.shared.state_ind = env_helper.shared.states_ind[id]
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env.shared.state_id = env_helper.shared.states_id[id]
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# Update reward
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update_reward!(env, env_helper, particle)
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@ -47,11 +47,11 @@ function update_table_and_actions_hook(
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end
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# Update action
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action_ind = agent(env)
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action = env.shared.action_space[action_ind]
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action_id = agent(env)
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action = env.shared.action_space[action_id]
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env_helper.shared.actions[id] = action
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env_helper.shared.actions_ind[id] = action_ind
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env_helper.shared.actions_id[id] = action_id
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return nothing
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end
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@ -11,6 +11,7 @@ struct LocalCOMEnv <: Env
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function LocalCOMEnv(;
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n_distance_states::Int64=3, n_direction_angle_states::Int64=3, args
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)
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@assert n_distance_states > 1
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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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@ -23,19 +24,9 @@ struct LocalCOMEnv <: Env
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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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shared = EnvSharedProps(n_states, state_space)
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shared = EnvSharedProps(n_states, (n_distance_states, n_direction_angle_states))
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return new(shared, distance_state_space, direction_angle_state_space)
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end
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@ -110,7 +101,7 @@ function state_update_hook(env_helper::LocalCOMEnvHelper, particles::Vector{Part
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n_particles = env_helper.shared.n_particles
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@turbo for id in 1:n_particles
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env_helper.shared.old_states_ind[id] = env_helper.shared.states_ind[id]
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env_helper.shared.old_states_id[id] = env_helper.shared.states_id[id]
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end
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env = env_helper.shared.env
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@ -121,7 +112,7 @@ function state_update_hook(env_helper::LocalCOMEnvHelper, particles::Vector{Part
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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.shared.n_states
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state_id = env.shared.n_states
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distance_to_local_center_of_mass_sum +=
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env_helper.max_distance_to_local_center_of_mass
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@ -135,21 +126,20 @@ function state_update_hook(env_helper::LocalCOMEnvHelper, particles::Vector{Part
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distance_to_local_center_of_mass_sum += distance
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distance_state = find_state_interval(distance, env.distance_state_space)
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distance_state_ind = find_state_ind(distance, env.distance_state_space)
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si, co = sincos(particles[id].φ)
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direction_angle = ReCo.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_state_ind = find_state_ind(
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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.shared.state_space)
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state_id = env.shared.state_id_tensor[distance_state_ind, direction_state_ind]
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end
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env_helper.shared.states_ind[id] = state_ind
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env_helper.shared.states_id[id] = state_id
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end
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mean_distance_to_local_center_of_mass =
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@ -46,14 +46,10 @@ function gen_distance_state_space(
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return distance_state_space
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end
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function find_state_ind(state::S, state_space::Vector{S}) where {S<:SVector}
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return findfirst(x -> x == state, state_space)
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end
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function find_state_interval(value::Float64, state_space::Vector{Interval})::Interval
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for state in state_space
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function find_state_ind(value::Float64, state_space::Vector{Interval})::Int64
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for (ind, state) in enumerate(state_space)
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if value in state
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return state
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return ind
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end
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end
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end
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