43 lines
1.4 KiB
Python
43 lines
1.4 KiB
Python
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from columbus import entities, observables
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import random as random_dont_use
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def parseObs(obsConf):
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# Parsing Observable Definitions
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if type(obsConf) == list:
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obs = []
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for i, c in enumerate(obsConf):
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obs.append(parseObs(c))
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if len(obs) == 1:
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return obs[0]
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else:
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return observables.CompositionalObservable(obs)
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if obsConf['type'] == 'State':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.StateObservable(**conf)
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elif obsConf['type'] == 'Compass':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.CompassObservable(**conf)
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elif obsConf['type'] == 'RayCast':
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chans = []
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for chan in obsConf.get('chans', []):
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chans.append(getattr(entities, chan))
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conf = {k: v for k, v in obsConf.items() if k not in ['type', 'chans']}
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return observables.RayObservable(chans=chans, **conf)
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elif obsConf['type'] == 'CNN':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.CnnObservable(**conf)
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elif obsConf['type'] == 'Dummy':
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conf = {k: v for k, v in obsConf.items() if k not in ['type']}
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return observables.Observable(**conf)
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else:
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raise Exception('Unknown Observable selected')
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def soft_int(num):
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i = int(num)
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r = num - i
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return i + int(random_dont_use.random() < r)
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