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Fixed Bug: Incorrect elipsoids when chols are batched or only diag

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This commit is contained in:
Dominik Moritz Roth 2022-07-17 00:44:16 +02:00
parent 51a734607d
commit a0953116f1
1 changed files with 5 additions and 3 deletions
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8
columbus/env.py
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@ -224,13 +224,15 @@ class ColumbusEnv(gym.Env):
self.joystick_offset[0], 20+int(60*y)+self.joystick_offset[1]), 20, width=0) self.joystick_offset[0], 20+int(60*y)+self.joystick_offset[1]), 20, width=0)
def _draw_confidence_ellipse(self, chol, seconds=1): def _draw_confidence_ellipse(self, chol, seconds=1):
# def draw_ellipse_angle(surface, color, rect, angle, width=0):
col = (255, 255, 255) col = (255, 255, 255)
f = seconds/self.speed_fac f = seconds/self.speed_fac
if len(chol.shape) == 3: while len(chol.shape) > 2:
chol = chol[0]
if chol.shape != (2, 2):
chol = th.diag_embed(chol)
if len(chol.shape) != 2:
chol = chol[0] chol = chol[0]
cov = chol.T @ chol cov = chol.T @ chol
L, V = th.linalg.eig(cov) L, V = th.linalg.eig(cov)