fixed lightmap

marl_factory_grid/utils/observation_builder.py

@@ -74,6 +74,14 @@ class OBSBuilder(object):
             named_obs_dict[agent.name] = {'observation': obs, 'names': names}
         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):
         assert self._curr_env_step == state.curr_step, (
             "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))
         if self.pomdp_r:
             for e in set(visible_entitites):
-                x, y = (e.x - agent.x) + self.pomdp_r, (e.y - agent.y) + self.pomdp_r
-                try:
-                    pre_sort_obs[e.obs_tag][x, y] += e.encoding
-                except IndexError:
-                    # Seemded to be visible but is out or range
-                    pass
+                self.place_entity_in_observation(pre_sort_obs[e.obs_tag], agent, e)
         else:
             for e in set(visible_entitites):
                 pre_sort_obs[e.obs_tag][e.x, e.y] += e.encoding
@@ -151,15 +154,16 @@ class OBSBuilder(object):
         if self.pomdp_r:
             try:
                 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:
-                    # Fixme: This Sucks if the Map is too small!!
-                    coords = [((f.x - agent.x) + self.pomdp_r, (f.y - agent.y) + self.pomdp_r) for f in visible_floor]
+                    for f in set(visible_floor):
+                        self.place_entity_in_observation(light_map, agent, f)
                 else:
-                    coords = [x.pos for x in visible_floor]
-                np.put(light_map, np.ravel_multi_index(np.asarray(coords).T, light_map.shape), 1)
+                    for f in set(visible_floor):
+                        light_map[f.x, f.y] += f.encoding
                 self.curr_lightmaps[agent.name] = light_map
             except (KeyError, ValueError):
+                print()
                 pass
         return obs, self.obs_layers[agent.name]
 

marl_factory_grid/utils/utility_classes.py

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