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Fixed Bug RayObservable did not detect lower Void

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This commit is contained in:
Dominik Moritz Roth 2022-06-21 21:38:18 +02:00
parent b668cf5746
commit b0aeb94cd7
1 changed files with 6 additions and 3 deletions
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9
columbus/observables.py
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@ -109,7 +109,7 @@ class RayObservable(Observable):
for entity in entities_l: for entity in entities_l:
if isinstance(entity, entity_type) or (self.env.void_barrier and isinstance(entity, entities.Void) and entity_type == entities.Enemy): if isinstance(entity, entity_type) or (self.env.void_barrier and isinstance(entity, entities.Void) and entity_type == entities.Enemy):
if isinstance(entity, entities.Void): if isinstance(entity, entities.Void):
if 0 >= pos[0] or pos[0] >= self.env.width or 0 >= pos[1] or pos[0] >= self.env.height: if 0 >= pos[0] or pos[0] >= self.env.width or 0 >= pos[1] or pos[1] >= self.env.width:
return True return True
else: else:
if entity.shape != 'circle': if entity.shape != 'circle':
@ -169,7 +169,7 @@ class RayObservable(Observable):
class StateObservable(Observable): class StateObservable(Observable):
def __init__(self, coordsAgent=False, speedAgent=False, coordsRelativeToAgent=True, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=True): def __init__(self, coordsAgent=False, speedAgent=False, coordsRelativeToAgent=True, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=True, enemysWhitelist=None, enemysNoBarriers=True, rewardsTimeouts=True, include_rand=True):
super(StateObservable, self).__init__() super(StateObservable, self).__init__()
self._entities = None self._entities = None
self._timeoutEntities = [] self._timeoutEntities = []
@ -182,6 +182,7 @@ class StateObservable(Observable):
self.enemysWhitelist = enemysWhitelist self.enemysWhitelist = enemysWhitelist
self.enemysNoBarriers = enemysNoBarriers self.enemysNoBarriers = enemysNoBarriers
self.rewardsTimeouts = rewardsTimeouts self.rewardsTimeouts = rewardsTimeouts
self.include_rand = include_rand
@property @property
def entities(self): def entities(self):
@ -210,7 +211,7 @@ class StateObservable(Observable):
def get_observation_space(self): def get_observation_space(self):
return spaces.Box(low=0-1*self.coordsRelativeToAgent, high=1, return spaces.Box(low=0-1*self.coordsRelativeToAgent, high=1,
shape=(len(self.entities)*2+len(self._timeoutEntities) + self.speedAgent,), dtype=np.float32) shape=(len(self.entities)*2+len(self._timeoutEntities) + self.speedAgent + self.include_rand,), dtype=np.float32)
def get_observation(self): def get_observation(self):
obs = [] obs = []
@ -232,6 +233,8 @@ class StateObservable(Observable):
if self.speedAgent: if self.speedAgent:
obs.append(self.env.speed[0]) obs.append(self.env.speed[0])
obs.append(self.env.speed[1]) obs.append(self.env.speed[1])
if self.include_rand:
obs.append(self.env.random())
self.obs = obs self.obs = obs
return np.array(obs) return np.array(obs)