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fixed lightmap

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Steffen Illium 2023-10-30 11:36:12 +01:00
parent 374a38971a
commit 35a42d7d47
2 changed files with 19 additions and 11 deletions
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26
marl_factory_grid/utils/observation_builder.py
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@ -74,6 +74,14 @@ class OBSBuilder(object):
named_obs_dict[agent.name] = {'observation': obs, 'names': names} named_obs_dict[agent.name] = {'observation': obs, 'names': names}
return named_obs_dict return named_obs_dict
def place_entity_in_observation(self, obs_array, agent, e):
x, y = (e.x - agent.x) + self.pomdp_r, (e.y - agent.y) + self.pomdp_r
try:
obs_array[x, y] += e.encoding
except IndexError:
# Seemded to be visible but is out of range
pass
def build_for_agent(self, agent, state) -> (List[str], np.ndarray): def build_for_agent(self, agent, state) -> (List[str], np.ndarray):
assert self._curr_env_step == state.curr_step, ( assert self._curr_env_step == state.curr_step, (
"The observation objekt has not been reset this state! Call 'reset_struc_obs_block(state)'" "The observation objekt has not been reset this state! Call 'reset_struc_obs_block(state)'"
@ -89,12 +97,7 @@ class OBSBuilder(object):
pre_sort_obs = defaultdict(lambda: np.zeros(self.obs_shape)) pre_sort_obs = defaultdict(lambda: np.zeros(self.obs_shape))
if self.pomdp_r: if self.pomdp_r:
for e in set(visible_entitites): for e in set(visible_entitites):
x, y = (e.x - agent.x) + self.pomdp_r, (e.y - agent.y) + self.pomdp_r self.place_entity_in_observation(pre_sort_obs[e.obs_tag], agent, e)
try:
pre_sort_obs[e.obs_tag][x, y] += e.encoding
except IndexError:
# Seemded to be visible but is out or range
pass
else: else:
for e in set(visible_entitites): for e in set(visible_entitites):
pre_sort_obs[e.obs_tag][e.x, e.y] += e.encoding pre_sort_obs[e.obs_tag][e.x, e.y] += e.encoding
@ -151,15 +154,16 @@ class OBSBuilder(object):
if self.pomdp_r: if self.pomdp_r:
try: try:
light_map = np.zeros(self.obs_shape) light_map = np.zeros(self.obs_shape)
visible_floor = set(self.ray_caster[agent.name].visible_entities(self._floortiles, reset_cache=False)) visible_floor = self.ray_caster[agent.name].visible_entities(self._floortiles, reset_cache=False)
if self.pomdp_r: if self.pomdp_r:
# Fixme: This Sucks if the Map is too small!! for f in set(visible_floor):
coords = [((f.x - agent.x) + self.pomdp_r, (f.y - agent.y) + self.pomdp_r) for f in visible_floor] self.place_entity_in_observation(light_map, agent, f)
else: else:
coords = [x.pos for x in visible_floor] for f in set(visible_floor):
np.put(light_map, np.ravel_multi_index(np.asarray(coords).T, light_map.shape), 1) light_map[f.x, f.y] += f.encoding
self.curr_lightmaps[agent.name] = light_map self.curr_lightmaps[agent.name] = light_map
except (KeyError, ValueError): except (KeyError, ValueError):
print()
pass pass
return obs, self.obs_layers[agent.name] return obs, self.obs_layers[agent.name]

4
marl_factory_grid/utils/utility_classes.py
View File

@ -31,6 +31,10 @@ class RenderEntity:
@dataclass @dataclass
class Floor: class Floor:
@property
def encoding(self):
return 1
@property @property
def name(self): def name(self):
return f"Floor({self.pos})" return f"Floor({self.pos})"