import numpy as np
from gym_urbandriving.utils import PIDController
from gym_urbandriving.agents import PursuitAgent
from gym_urbandriving.planning import VelocityMPCPlanner,GeometricPlanner
import gym_urbandriving as uds
from gym_urbandriving.actions import VelocityAction
[docs]class VelocityActionAgent(PursuitAgent):
"""
Hierarichal agent which implements the full plannning stack except the velocity component
The planner first generates a nominal trajecotry, then at each timestep recives a target velocity
to track with PID controller.
Attributes
----------
agent_num : int
Index of this agent in the world.
Used to access its object in state.dynamic_objects
"""
def __init__(self, agent_num=0):
"""
Initializes the VelocityActionAgent Class
Parameters
----------
agent_num: int
The number which specifies the agent in the dictionary state.dynamic_objects['controlled_cars']
"""
self.agent_num = agent_num
#Move to JSON
self.PID_acc = PIDController(1.0, 0, 0)
self.PID_steer = PIDController(2.0, 0, 0)
self.not_initiliazed = True
[docs] def eval_policy(self, action,state,simplified = False):
"""
Returns action based next state in trajectory.
Parameters
----------
state : PositionState
State of the world, unused
action : VelocityAction or None
Target velocity for car to travel at
Returns
-------
tuple with floats (steering,acceleration)
"""
if not (isinstance(action,VelocityAction) or action == None):
raise Exception('Action is not of type VelocityAction')
if not state.dynamic_objects["controlled_cars"][str(self.agent_num)].trajectory:
geoplanner = GeometricPlanner(state, inter_point_d=40.0, planning_time=0.1)
geoplanner.plan_for_agents(state,type_of_agent='controlled_cars',agent_num=self.agent_num)
self.not_initiliazed = False
if not simplified:
target_vel = action
state.dynamic_objects['controlled_cars'][str(self.agent_num)].trajectory.set_vel(target_vel)
return super(VelocityActionAgent, self).eval_policy(state,type_of_agent='controlled_cars')