update_new_simulation_method

Publication/src/Config.py

@@ -55,9 +55,9 @@ def __init__(self) -> None:
         self.__budget_mode = False
 
         """ Default simulation parameter seteup. """
-        self.__num_steps = 3  # number of steps.
-        self.__num_replicates = 3  # number of replicates
-        self.__num_cores = 3  # number of cores to use
+        self.__num_steps = 120  # number of steps.
+        self.__num_replicates = 1  # number of replicates
+        self.__num_cores = 1  # number of cores to use
 
     @staticmethod
     def wgs2xy(value: np.ndarray) -> np.ndarray:

Publication/src/Simulators/Simulator.py

@@ -37,23 +37,29 @@ def __init__(self, weight_eibv: float = 1., weight_ivr: float = 1.,
         self.__datapath = os.getcwd() + "/npy/temporal/R_{:03d}/".format(replicate_id) + self.__name + "/"
         checkfolder(self.__datapath)
 
-    def run(self) -> None:
+    def run_myopic(self) -> None:
         """ Run the simulation for all the agents. """
         t0 = time()
         self.__agent_myopic.run()
         print("Myopic simulation takes {:.2f} seconds.".format(time() - t0))
-        self.__agent_rrtstar.run()
-        print("RRT* simulation takes {:.2f} seconds.".format(time() - t0))
 
         t0 = time()
         (traj_myopic, ibv_myopic, rmse_myopic, vr_myopic,
          mu_data_myopic, cov_myopic, sigma_data_myopic, mu_truth_data_myopic) = self.__agent_myopic.get_metrics()
 
+        np.savez(self.__datapath + "myopic.npz", traj=traj_myopic, ibv=ibv_myopic, rmse=rmse_myopic, vr=vr_myopic,
+                    mu=mu_data_myopic, cov=cov_myopic, sigma=sigma_data_myopic, truth=mu_truth_data_myopic)
+        print("Saving data takes {:.2f} seconds.".format(time() - t0))
+
+    def run_rrt(self) -> None:
+        """ Run the simulation for all the agents. """
+        t0 = time()
+        self.__agent_rrtstar.run()
+        print("RRT* simulation takes {:.2f} seconds.".format(time() - t0))
+
         (traj_rrtstar, ibv_rrtstar, rmse_rrtstar, vr_rrtstar,
          mu_data_rrtstar, cov_rrtstar, sigma_data_rrtstar, mu_truth_data_rrtstar) = self.__agent_rrtstar.get_metrics()
 
-        np.savez(self.__datapath + "myopic.npz", traj=traj_myopic, ibv=ibv_myopic, rmse=rmse_myopic, vr=vr_myopic,
-                    mu=mu_data_myopic, cov=cov_myopic, sigma=sigma_data_myopic, truth=mu_truth_data_myopic)
         np.savez(self.__datapath + "rrtstar.npz", traj=traj_rrtstar, ibv=ibv_rrtstar, rmse=rmse_rrtstar, vr=vr_rrtstar,
                     mu=mu_data_rrtstar, cov=cov_rrtstar, sigma=sigma_data_rrtstar, truth=mu_truth_data_rrtstar)
         print("Saving data takes {:.2f} seconds.".format(time() - t0))

Publication/src/run_temporal_replicates.py

@@ -48,7 +48,8 @@ def run_replicates(sws: np.ndarray = np.array([0, 102, 1., 1.])):
     print("Replicate: ", i, " | Seed: ", seed, " | Weight EIBV: ", weight_eibv, " | Weight IVR: ", weight_ivr)
     simulator = Simulator(weight_eibv=weight_eibv, weight_ivr=weight_ivr,
                           random_seed=seed, replicate_id=i, debug=debug)
-    simulator.run()
+    # simulator.run_myopic()
+    simulator.run_rrt()
 
 
 if __name__ == "__main__":