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Confidence-Ellipse: Back to showing 1sigma

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This commit is contained in:
Dominik Moritz Roth 2022-11-01 16:25:47 +01:00
parent 1ef66a7674
commit 4fede26967
1 changed files with 4 additions and 5 deletions
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9
columbus/env.py
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@ -381,13 +381,13 @@ class ColumbusEnv(gym.Env):
pygame.draw.circle(self.screen, smolcol, (20+int(60*x) +
self.joystick_offset[0], 20+int(60*y)+self.joystick_offset[1]), 20, width=0)
def _draw_confidence_ellipse(self, chol, forceDraw=False, seconds=0.5):
def _draw_confidence_ellipse(self, chol, forceDraw=False, seconds=0.1):
# The 'seconds'-parameter only really makes sense, when using control_type='SPEED',
# you can still use it to scale the cov-ellipse when using control_type='ACC',
# but it's relation to 'seconds' is no longer there...
if self.draw_confidence_ellipse and (self.visible or forceDraw):
col = (255, 255, 255)
f = seconds*self.speed_fac*self.fps*max(self.width, self.height)
f = seconds*self.speed_fac*self.fps*max(self.height, self.width)
while len(chol.shape) > 2:
chol = chol[0]
@ -399,9 +399,8 @@ class ColumbusEnv(gym.Env):
L, V = th.linalg.eig(cov)
L, V = L.real, V.real
# 5.911 is the magic-number to get a 95%-confidence interval
l1, l2 = int(abs(math.sqrt(L[0].item()*5.911)*f)) + \
1, int(abs(math.sqrt(L[1].item()*5.911)*f))+1
l1, l2 = int(abs(math.sqrt(L[0].item())*f)) + \
1, int(abs(math.sqrt(L[1].item())*f))+1
if l1 >= l2:
w, h = l1, l2