Making the repo somewhat understandable to other readers...

columbus/env.py

@@ -309,9 +309,13 @@ class ColumbusEnv(gym.Env):
             L, V = th.linalg.eig(cov)
             L, V = L.real, V.real
             w, h = int(abs(L[0].item()*f))+1, int(abs(L[1].item()*f))+1
-            # TODO: Is this correct? We try to solve for teh angle from this:
+            # In theory we would ahve to solve:
             # R = [[cos, -sin],[sin, cos]]
-            # Via only the -sin term.
+            # But we only use the -sin term.
+            # Because of this our calculated angle might be wrong
+            # by periods of 180°
+            # But since an ellipsoid does not change under such an 'error',
+            # we don't care
             # ang1 = int(math.acos(V[0, 0])/math.pi*360)
             ang2 = int(math.asin(-V[0, 1])/math.pi*360)
             # ang3 = int(math.asin(V[1, 0])/math.pi*360)

columbus/observables.py

@@ -29,6 +29,7 @@ class Observable():
 
 
 class CnnObservable(Observable):
+    # Currently broken...
     def __init__(self, in_width=256, in_height=256, out_width=32, out_height=32, draw_width=128, draw_height=128, smooth_scaling=True):
         super(CnnObservable, self).__init__()
         self.in_width = in_width
@@ -195,6 +196,7 @@ class RayObservable(Observable):
 
 
 class StateObservable(Observable):
+    # Whitelists probably don't work...
     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__()
         self._entities = None
@@ -287,6 +289,9 @@ class StateObservable(Observable):
 
 
 class CompassObservable(Observable):
+    # Usefull for navigation close to an reward.
+    # Works like the StateObservable, but we assign a bigger range of possible input values to those, that are close to zero.
+    # I found that Agents without such an Observable often moved close to a reward and then just jiggled arround, adding a CompassObservable fixes this
     def __init__(self, coordsRewards=True, rewardsWhitelist=None, coordsEnemys=False, enemysWhitelist=None, enemysNoBarriers=True):
         super().__init__()
         self._entities = None
@@ -355,6 +360,8 @@ class CompassObservable(Observable):
 
 
 class CompositionalObservable(Observable):
+    # Used whenever you want to attach multiple Observables to an Env.
+    # We currently flatten the outputs of all attached Observables, so using a CNN though an CompositionalObservable would lead to problems.
     def __init__(self, observables):
         super().__init__()
         self.observables = observables