SettingsStructs.h

//NOTE: This file will be loaded by the settings loader, do not add any definitions, do not add #include directives! Only declaration of structs and basic variables (int, float, string, SDL_Keycode) are allowed! Only use single line comments //!

typedef struct
{
	int resolution_w; // window width
	int resolution_h; // window height
	int window_x;	  // window x position on startup -1 for centered
	int window_y;	  // window y position on startup -1 for centered
	int maximized;	  // start window maximized 1/0
	int msaa;		  // multisampling anti-aliasing 2,4,8,16
	int vsync;		  // vertical synchronization 1/0
	int fps;		  // video frames per second
	int fullscreen;	  // fullscreen enabled 1/0
	int enabled;	  // video mode enabled 1/0; if set to 0
} f_videoSettings;

typedef struct
{
	int font_size;			  // gui font size
	int show_robot;			  // show/hide the robot
	int show_stage;			  // show/hide the stage
	int show_laser;			  // show/hide the laser
	int show_stats;			  // show/hide the statistics (e.g. #episodes)
	int show_goal;			  // show/hide goal
	int show_goal_spawn;	  // show/hide the spawn area for the goal
	int show_trail;			  // show/hide robot trail
	int camera_follow;		  // if == 1 camera follows robot, (if == 2, rotation is also taken into acount)
	float camera_x;			  // initial position of camera
	float camera_y;			  // initial position of camera
	float camera_zoom;		  // initial zoom of camera (zoom actually means scaling of the view -> camera_zoom < 1 means zooming out)
	float camera_rotation;	  // view rotation in degree
	float camera_zoom_factor; // how does scaling increase/decrease with each zoom step
} f_guiSettings;

typedef struct
{
	SDL_Keycode up;					   // key for moving forward
	SDL_Keycode left;				   // key for moving left
	SDL_Keycode down;				   // key for moving backward
	SDL_Keycode right;				   // key for moving right
	SDL_Keycode reset;				   // key for resetting robot
	SDL_Keycode play_pause_simulation; // key for playing/pausing simulation
} f_keymapSettings;

typedef struct
{
	float time_step;		 // physics time step
	int step_iterations;	 // how often to perform a physics update per step
	int fps;				 // how many times per second a simulation step is performed with step_iterations sub steps
	int position_iterations; // position iterations for each time step (higher value increases simulation accuracy)
	int velocity_iterations; // velocity iterations for each time step (higher value increases simulation accuracy)
} f_physicsSettings;

typedef struct
{
	int random_seed;					// seed for pseudo random generator
	string initial_level;				// level loaded on startup (-1 for none)
	float level_size;					// width and height of default levels
	float max_obstacle_size;			// maximum diameter of static obstacles
	float min_obstacle_size;			// minimum diameter of static obstacles
	int num_obstacles;					// number of static obstacles
	float dynamic_obstacle_size;		// size of dynamic obstacle
	int num_dynamic_obstacles;			// number of dynamic obstacles in static_dynamic level
	float obstacle_speed;				// in m/s for dynamic obstacles
	float max_time_chatting;	// maximum time for chatting between two wanderers
	float goal_size;					// diameter of circular goal to reach
	string svg_path;					// path to folder where svg files are stored
	string static_map_ros_service_name; //name of map service provided ros map server.
} f_stage;

typedef struct
{
	float max_time;				 // maximum time per episode (actual time, so physics.time_step influences maximum number of steps per episode)
	int episode_over_on_hit;	 // if set to 1 episode ends if an obstacle is hit
	float reward_goal;			 // reward for reaching goal
	float reward_towards_goal;	 // reward when distance to goal decreases
	float reward_away_from_goal; // reward when distance to goal increases
	float reward_hit;			 // reward for hitting obstacle
	float reward_time_out;		 // reward when episode timed out (after max_time seconds)
	int num_envs;				 // number of parallel environments
	int num_threads;			 // number of threads to run in parallel, if set to -1 number of cpu cores will be detected automatically
	string agent_class;			 // name of class in agent python script

	float reward_human; // reward for hitting a human
	float safety_distance_human; // safty distance to human, which should be always fullfilled
	float reward_distance_to_human_decreased; // reward when distance to human decreases
	float reward_distance_to_human_increased; // reward when distance to human increases
	int num_obs_humans; // maximum number of humans the agent can observe inside the camera view
	int reward_function; // choose between different reward functions (1 = distance rewards only for observed humans, 2 = distance rewards for all humans in level)
} f_trainingSettings;

typedef struct
{
	float linear;
	float angular;
} f_twist;

typedef struct
{
	float x;
	float y;
} f_vec2;

typedef struct
{
	float laser_noise;			// random, uniformly distributed offset with a maximum of +/- laser_noise*distance_measured (a value of 0 means perfect laser data -> no noise)
	float laser_max_distance;	// maximum distance the laser can recognize
	float laser_start_angle;	// angle in degree of first sample
	float laser_end_angle;		// angle in degree of last sample
	int laser_num_samples;		// number of laser samples
	f_vec2 laser_offset;		// offset of laser from base center
	f_vec2 base_size;			// width(x) and height(y) of robot base
	f_vec2 wheel_size;			// width(x) and height(y) of robot wheels
	f_vec2 wheel_offset;		// offset of wheels from edge of base
	f_vec2 bevel_size;			// size of bevel along x/y axis at the base corners
	f_twist forward_speed;		// velocity for forward action
	f_twist left_speed;			// velocity for left action
	f_twist right_speed;		// velocity for right action
	f_twist strong_left_speed;	// velocity for strong left action
	f_twist strong_right_speed; // velocity for strong right action
	f_twist backward_speed;		// velocity for backward action

	float camera_angle;			// camera view in degree
} f_robotSettings;

typedef struct
{
	f_videoSettings video;
	f_guiSettings gui;
	f_keymapSettings keys;
	f_physicsSettings physics;
	f_trainingSettings training;
	f_robotSettings robot;
	f_stage stage;
} f_settings;