From e872ab30d827e31831a3ef692f6a983f87d4044f Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 12:57:14 -0700 Subject: [PATCH 01/16] checked in manifest for travis --- Manifest.toml | 761 ++++++++++++++++++++++++++++++++++++++++++++++++++ Project.toml | 5 +- 2 files changed, 764 insertions(+), 2 deletions(-) create mode 100644 Manifest.toml diff --git a/Manifest.toml b/Manifest.toml new file mode 100644 index 0000000..d0d0244 --- /dev/null +++ b/Manifest.toml @@ -0,0 +1,761 @@ +# This file is machine-generated - editing it directly is not advised + +[[AbstractFFTs]] +deps = ["Compat", "LinearAlgebra"] +git-tree-sha1 = "8d59c3b1463b5e0ad05a3698167f85fac90e184d" +uuid = "621f4979-c628-5d54-868e-fcf4e3e8185c" +version = "0.3.2" + +[[Arpack]] +deps = ["BinaryProvider", "Libdl", "LinearAlgebra", "Random", "SparseArrays", "Test"] +git-tree-sha1 = "1ce1ce9984683f0b6a587d5bdbc688ecb480096f" +uuid = "7d9fca2a-8960-54d3-9f78-7d1dccf2cb97" +version = "0.3.0" + +[[AutoUrban]] 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"HTTPClient", "LibExpat", "Libdl", "Libz", "URIParser"] +git-tree-sha1 = "2a889d320f3b77d17c037f295859fe570133cfbf" +uuid = "c17dfb99-b4f7-5aad-8812-456da1ad7187" +version = "0.4.2" + +[[WoodburyMatrices]] +deps = ["LinearAlgebra", "Random", "SparseArrays", "Test"] +git-tree-sha1 = "21772c33b447757ec7d3e61fcdfb9ea5c47eedcf" +uuid = "efce3f68-66dc-5838-9240-27a6d6f5f9b6" +version = "0.4.1" + +[[ZMQ]] +deps = ["BinaryProvider", "FileWatching", "Libdl", "Sockets", "Test"] +git-tree-sha1 = "34e7ac2d1d59d19d0e86bde99f1f02262bfa1613" +uuid = "c2297ded-f4af-51ae-bb23-16f91089e4e1" +version = "1.0.0" diff --git a/Project.toml b/Project.toml index 181b02f..acefd44 100644 --- a/Project.toml +++ b/Project.toml @@ -9,8 +9,6 @@ AutoViz = "82aa6e0c-a491-5edf-8d4b-c16b98e4ea17" AutomotiveDrivingModels = "99497e54-f3d6-53d3-a3a9-fa9315a7f1ba" AutomotiveSensors = "9ec66b5e-c605-11e8-1454-ede748df6f96" BeliefUpdaters = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4" -DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" -RLInterface = "3065fe53-3878-5aed-aae7-ab641be43734" DiscreteValueIteration = "4b033969-44f6-5439-a48b-c11fa3648068" GridInterpolations = "bb4c363b-b914-514b-8517-4eb369bc008a" LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" @@ -19,7 +17,10 @@ POMDPPolicies = "182e52fb-cfd0-5e46-8c26-fd0667c990f4" POMDPSimulators = "e0d0a172-29c6-5d4e-96d0-f262df5d01fd" POMDPs = "a93abf59-7444-517b-a68a-c42f96afdd7d" Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a" +RLInterface = "3065fe53-3878-5aed-aae7-ab641be43734" Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c" +Records = "5984c134-fa48-5ed5-a57f-fc2f6936871f" Reel = "71555da5-176e-5e73-a222-aebc6c6e4f2f" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91" +Vec = "44eeaf0b-fee4-471f-9310-ed6585cb3142" From 4a20644ed1eb2c2fa9f64ae0415f6ab66eec19f2 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 13:03:00 -0700 Subject: [PATCH 02/16] use default travis script --- .travis.yml | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/.travis.yml b/.travis.yml index 3a53c8a..e9fe8b6 100644 --- a/.travis.yml +++ b/.travis.yml @@ -25,11 +25,9 @@ addons: # - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi ## uncomment the following lines to override the default test script -script: - - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi - - julia --project --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(url="https://github.com/sisl/Vec.jl")); Pkg.add(PackageSpec(url="https://github.com/sisl/Records.jl"));' - - julia --project --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveDrivingModels.jl")); Pkg.add(PackageSpec(url="https://github.com/sisl/AutoViz.jl")); Pkg.add(PackageSpec(url="https://github.com/JuliaPOMDP/RLInterface.jl")); ' - - julia --project --check-bounds=yes -e 'Pkg.build("AutomotivePOMDPs"); Pkg.test("AutomotivePOMDPs"; coverage=true)' +# script: +# - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi +# - julia --project --check-bounds=yes -e 'Pkg.build("AutomotivePOMDPs"); Pkg.test("AutomotivePOMDPs"; coverage=true)' after_success: # push coverage results to Coveralls - julia -e 'cd(Pkg.dir("AutomotivePOMDPs")); Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())' From 3b9d22d92e24a18e5ed7578c69eabdb46521889f Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 13:12:59 -0700 Subject: [PATCH 03/16] add badges in README --- README.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index f0cd32f..3ffe0d8 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,8 @@ # AutomotivePOMDPs: Driving Scenarios formulated as POMDPs +[![Build Status](https://travis-ci.org/sisl/AutomotivePOMDPs.jl.svg?branch=master)](https://travis-ci.org/sisl/AutomotivePOMDPs.jl) +[![Coverage Status](https://coveralls.io/repos/github/sisl/AutomotivePOMDPs.jl/badge.svg?branch=master)](https://coveralls.io/github/sisl/AutomotivePOMDPs.jl?branch=master) + contact: Maxime Bouton, [boutonm@stanford.edu](boutonm@stanford.edu) This repository consists of different driving scenarios formulated as POMDPs. It provides a generative model for computing policies. A few of them have explicit transition and observation models. @@ -15,7 +18,9 @@ Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveDrivingModels.jl")) Pkg.add(PackageSpec(url="https://github.com/sisl/AutoViz.jl")) Pkg.add(PackageSpec(url="https://github.com/sisl/AutoUrban.jl")) Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveSensors.jl")) -Pkg.add(PackageSpec(url="https://github.com/JuliaPOMDP/RLInterface.jl")) +Pkg.add("POMDPs") +using POMDPs +POMDPs.add_registry() Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotivePOMDPs.jl")) ``` ## Code to run From 37203caa967fdda2d09a006f31e523409d07dd12 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 13:52:53 -0700 Subject: [PATCH 04/16] add juliaPOMDP registry --- .travis.yml | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/.travis.yml b/.travis.yml index e9fe8b6..f940c11 100644 --- a/.travis.yml +++ b/.travis.yml @@ -25,9 +25,11 @@ addons: # - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi ## uncomment the following lines to override the default test script -# script: -# - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi -# - julia --project --check-bounds=yes -e 'Pkg.build("AutomotivePOMDPs"); Pkg.test("AutomotivePOMDPs"; coverage=true)' +script: + - git clone https://github.com/JuliaRegistries/General $(julia -e 'import Pkg; println(joinpath(Pkg.depots1(), "registries", "General"))') + - git clone https://github.com/JuliaPOMDP/Registry $(julia -e 'import Pkg; println(joinpath(Pkg.depots1(), "registries", "JuliaPOMDP"))') + - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi + - julia --project --color=yes -e 'import Pkg; Pkg.build(); Pkg.test(coverage=true)' after_success: # push coverage results to Coveralls - julia -e 'cd(Pkg.dir("AutomotivePOMDPs")); Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())' From 880ecdc78d74a53785ac645c43c8dff9fb74550e Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 13:59:09 -0700 Subject: [PATCH 05/16] setup docs --- .gitignore | 3 ++- .travis.yml | 14 ++++++++++++++ docs/make.jl | 11 +++++++++++ docs/src/driver_models.md | 18 ++++++++++++++++++ docs/src/helpers.md | 8 ++++++++ docs/src/index.md | 8 ++++++++ docs/src/scenarios.md | 10 ++++++++++ src/AutomotivePOMDPs.jl | 3 ++- 8 files changed, 73 insertions(+), 2 deletions(-) create mode 100644 docs/make.jl create mode 100644 docs/src/driver_models.md create mode 100644 docs/src/helpers.md create mode 100644 docs/src/index.md create mode 100644 docs/src/scenarios.md diff --git a/.gitignore b/.gitignore index 82b55a0..0d73764 100644 --- a/.gitignore +++ b/.gitignore @@ -2,4 +2,5 @@ *.webm __pycache__/ log/ -*.jld \ No newline at end of file +*.jld +docs/build \ No newline at end of file diff --git a/.travis.yml b/.travis.yml index f940c11..c32354a 100644 --- a/.travis.yml +++ b/.travis.yml @@ -35,3 +35,17 @@ after_success: - julia -e 'cd(Pkg.dir("AutomotivePOMDPs")); Pkg.add("Coverage"); using Coverage; Coveralls.submit(Coveralls.process_folder())' # push coverage results to Codecov - julia -e 'cd(Pkg.dir("AutomotivePOMDPs")); Pkg.add("Coverage"); using Coverage; Codecov.submit(Codecov.process_folder())' +jobs: + include: + - stage: "Documentation" + julia: 1.0 + os: linux + script: + - julia --project=docs/ -e 'using Pkg; + Pkg.add("Documenter"); + Pkg.add(PackageSpec(url="https://github.com/sisl/Records.jl")); + Pkg.add(PackageSpec(url="https://github.com/sisl/Vec.jl")); + Pkg.develop(PackageSpec(path=pwd())); + Pkg.instantiate()' + - julia --project=docs/ docs/make.jl + after_success: skip \ No newline at end of file diff --git a/docs/make.jl b/docs/make.jl new file mode 100644 index 0000000..e639e44 --- /dev/null +++ b/docs/make.jl @@ -0,0 +1,11 @@ +using Documenter +using AutomotivePOMDPs + +makedocs( + modules = [AutomotivePOMDPs], + sitename="AutomotivePOMDPs.jl" + ) + +deploydocs( + repo = "github.com/sisl/AutomotivePOMDPs.jl.git", +) \ No newline at end of file diff --git a/docs/src/driver_models.md b/docs/src/driver_models.md new file mode 100644 index 0000000..3b5b2ea --- /dev/null +++ b/docs/src/driver_models.md @@ -0,0 +1,18 @@ +# Driver Models + +Behavior models for cars and pedestrians. + +```@autodocs +Modules = [AutomotivePOMDPs] +Pages = ["driver_models/constant_pedestrian.jl", + "driver_models/crosswalk_driver.jl", + "driver_models/helpers.jl", + "driver_models/intelligent_pedestrian_model.jl", + "driver_models/lidar_sensor.jl", + "driver_models/old_ttc_driver_file.jl", + "driver_models/route_following_idm.jl", + "driver_models/stop.jl", + "driver_models/stop_intersection_driver.jl", + "driver_models/ttc_intersection_driver.jl", + "driver_models/urban_driver.jl"] +``` \ No newline at end of file diff --git a/docs/src/helpers.md b/docs/src/helpers.md new file mode 100644 index 0000000..ebdee60 --- /dev/null +++ b/docs/src/helpers.md @@ -0,0 +1,8 @@ +# Helpers + +Some helpers function including a collision checker and occlusion checker. + +```@autodocs +Modules = [AutomotivePOMDPs] +Pages = ["utils/helpers.jl", "utils/occlusions.jl", "utils/collision_checker.jl", "utils/rendering.jl"] +``` \ No newline at end of file diff --git a/docs/src/index.md b/docs/src/index.md new file mode 100644 index 0000000..bc11332 --- /dev/null +++ b/docs/src/index.md @@ -0,0 +1,8 @@ +# About + +AutomotivePOMDPs is a collection of driving scenarios modeled as a POMDPs. +The implementations rely on `POMDPs.jl` and `AutomotiveDrivingModels.jl`. +Some models follow the explicit interface and others the generative interface of `POMDPs.jl`. + +```@contents +``` diff --git a/docs/src/scenarios.md b/docs/src/scenarios.md new file mode 100644 index 0000000..4af38d6 --- /dev/null +++ b/docs/src/scenarios.md @@ -0,0 +1,10 @@ +# Scenarios + +```@autodocs +module = [AutomotivePOMDPs] +pages = ["envs/multi_lane_T_env.jl", + "envs/obstacles.jl", + "envs/occluded_crosswalk_env.jl", + "envs/rendering.jl", + "envs/urban_env.jl"] +``` \ No newline at end of file diff --git a/src/AutomotivePOMDPs.jl b/src/AutomotivePOMDPs.jl index e43f530..e173de8 100644 --- a/src/AutomotivePOMDPs.jl +++ b/src/AutomotivePOMDPs.jl @@ -54,7 +54,8 @@ export next_ped_id, EGO_ID, CAR_ID, - PED_ID + PED_ID, + EgoDriver include("constants.jl") include("utils/helpers.jl") From d806d0de9cc4aa4b7a65a90b997e0fe8d00b3e64 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 13:59:58 -0700 Subject: [PATCH 06/16] installation instruction for documenter --- .travis.yml | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/.travis.yml b/.travis.yml index c32354a..9d6308c 100644 --- a/.travis.yml +++ b/.travis.yml @@ -45,6 +45,14 @@ jobs: Pkg.add("Documenter"); Pkg.add(PackageSpec(url="https://github.com/sisl/Records.jl")); Pkg.add(PackageSpec(url="https://github.com/sisl/Vec.jl")); + Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveDrivingModels.jl")); + Pkg.add(PackageSpec(url="https://github.com/sisl/AutoViz.jl")); + Pkg.add(PackageSpec(url="https://github.com/sisl/AutoUrban.jl")); + Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotiveSensors.jl")); + Pkg.add("POMDPs"); + using POMDPs; + POMDPs.add_registry(); + Pkg.add(PackageSpec(url="https://github.com/sisl/AutomotivePOMDPs.jl")); Pkg.develop(PackageSpec(path=pwd())); Pkg.instantiate()' - julia --project=docs/ docs/make.jl From 232bf069388cb527f105101a90f4d3191bc9c232 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 14:07:04 -0700 Subject: [PATCH 07/16] installation instruction for documenter --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index 9d6308c..62f5e18 100644 --- a/.travis.yml +++ b/.travis.yml @@ -4,8 +4,8 @@ os: - linux - osx julia: - - 0.7 - 1.0 + - 1.1 - nightly notifications: email: false From a9bcf0473df28a0206f219c4ec4814941034583c Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 14:08:15 -0700 Subject: [PATCH 08/16] add Datastructures --- Project.toml | 1 + 1 file changed, 1 insertion(+) diff --git a/Project.toml b/Project.toml index acefd44..ad58501 100644 --- a/Project.toml +++ b/Project.toml @@ -9,6 +9,7 @@ AutoViz = "82aa6e0c-a491-5edf-8d4b-c16b98e4ea17" AutomotiveDrivingModels = "99497e54-f3d6-53d3-a3a9-fa9315a7f1ba" AutomotiveSensors = "9ec66b5e-c605-11e8-1454-ede748df6f96" BeliefUpdaters = "8bb6e9a1-7d73-552c-a44a-e5dc5634aac4" +DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8" DiscreteValueIteration = "4b033969-44f6-5439-a48b-c11fa3648068" GridInterpolations = "bb4c363b-b914-514b-8517-4eb369bc008a" LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e" From ad21b1fb767e1ed16311b7c61dc7578e6a1cdd26 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 14:08:38 -0700 Subject: [PATCH 09/16] Base.Test -> Test --- test/runtests.jl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/test/runtests.jl b/test/runtests.jl index f41a26c..f1cace7 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -1,5 +1,5 @@ using AutomotivePOMDPs -using Base.Test +using Test # write your own tests here @test 1 == 2 From c7bd12ac6e2500d03e313100b3af8968dd945e9f Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 14:20:18 -0700 Subject: [PATCH 10/16] add test deps --- Project.toml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/Project.toml b/Project.toml index ad58501..8116a18 100644 --- a/Project.toml +++ b/Project.toml @@ -25,3 +25,9 @@ Reel = "71555da5-176e-5e73-a222-aebc6c6e4f2f" StaticArrays = "90137ffa-7385-5640-81b9-e52037218182" StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91" Vec = "44eeaf0b-fee4-471f-9310-ed6585cb3142" + +[extras] +Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40" + +[targets] +test = ["Test"] \ No newline at end of file From 06a447932a9c814c1c7a27fcfc4b74152d461367 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 15:03:37 -0700 Subject: [PATCH 11/16] fix findfirst add tests --- src/driver_models/crosswalk_driver.jl | 2 +- src/driver_models/route_following_idm.jl | 2 +- src/driver_models/stop_intersection_driver.jl | 2 +- src/eval-crosswalk/simulation.jl | 2 +- src/explicit_pomdps/car_mdp/high_fidelity.jl | 4 +- .../pedcar_mdp/driver_models_helpers.jl | 6 +-- .../pedcar_mdp/high_fidelity.jl | 6 +-- src/explicit_pomdps/pedcar_mdp/state_space.jl | 4 +- .../pedestrian_mdp/high_fidelity.jl | 2 +- .../generative_model.jl | 4 +- .../old_multi_intersection/lane_keeper_idm.jl | 2 +- .../urban/generative_model.jl | 3 +- src/utils/helpers.jl | 12 +++++- test/collisionchecker_tests.jl | 43 +++++++++++++++++++ test/crosswalk_tests.jl | 26 +++++++++++ test/runtests.jl | 5 ++- test/urbanpomdp_tests.jl | 39 +++++++++++++++++ 17 files changed, 141 insertions(+), 23 deletions(-) create mode 100644 test/collisionchecker_tests.jl create mode 100644 test/crosswalk_tests.jl create mode 100644 test/urbanpomdp_tests.jl diff --git a/src/driver_models/crosswalk_driver.jl b/src/driver_models/crosswalk_driver.jl index 6f52225..cba5e5a 100644 --- a/src/driver_models/crosswalk_driver.jl +++ b/src/driver_models/crosswalk_driver.jl @@ -123,7 +123,7 @@ function ungrow_wait_list!(model::CrosswalkDriver, scene::Scene, roadway::Roadwa for i=1:n pedid = model.wait_list[i] ped_ind = findfirst(pedid, scene) - if ped_ind == 0 + if ped_ind == nothing push!(to_remove, i) continue end diff --git a/src/driver_models/route_following_idm.jl b/src/driver_models/route_following_idm.jl index 46d50fe..ae4539b 100644 --- a/src/driver_models/route_following_idm.jl +++ b/src/driver_models/route_following_idm.jl @@ -95,7 +95,7 @@ function AutomotiveDrivingModels.observe!(model::RouteFollowingIDM, scene::Scene VehicleTargetPointFront(), VehicleTargetPointRear(), VehicleTargetPointFront()) v_ego = scene[vehicle_index].state.v - if fore.ind != 0 + if fore.ind != nothing headway, v_oth = fore.Δs, scene[fore.ind].state.v else headway, v_oth = NaN, NaN diff --git a/src/driver_models/stop_intersection_driver.jl b/src/driver_models/stop_intersection_driver.jl index e3464cb..0be73a4 100644 --- a/src/driver_models/stop_intersection_driver.jl +++ b/src/driver_models/stop_intersection_driver.jl @@ -121,7 +121,7 @@ function ungrow_wait_list!(model::StopIntersectionDriver, scene::Scene, roadway: for i=1:n vehid = model.wait_list[i] veh_ind = findfirst(vehid, scene) - if veh_ind == 0 + if veh_ind == nothing push!(to_remove, i) continue end diff --git a/src/eval-crosswalk/simulation.jl b/src/eval-crosswalk/simulation.jl index b571534..bc8175f 100644 --- a/src/eval-crosswalk/simulation.jl +++ b/src/eval-crosswalk/simulation.jl @@ -163,6 +163,6 @@ end # tick!(scene, env.roadway, actions, rec.timestep) # update!(rec, scene) # end -# @assert findfirst(EGO_ID, scene) == 0 +# @assert findfirst(EGO_ID, scene) == nothing # return rec[0] # end diff --git a/src/explicit_pomdps/car_mdp/high_fidelity.jl b/src/explicit_pomdps/car_mdp/high_fidelity.jl index 6d3cf5d..6741cbb 100644 --- a/src/explicit_pomdps/car_mdp/high_fidelity.jl +++ b/src/explicit_pomdps/car_mdp/high_fidelity.jl @@ -22,14 +22,14 @@ end function get_mdp_state(mdp::CarMDP, pomdp::UrbanPOMDP, s::Scene, car_id = 2) car_i = findfirst(car_id, s) car = Vehicle(get_off_the_grid(mdp), mdp.car_type, car_id) - if car_i != 0 + if car_i != nothing car = s[car_i] end ego = get_ego(s) sroute = SVector{0, Lane}() # find route sroute = nothing - if haskey(pomdp.models, car_id) && car_i != 0 + if haskey(pomdp.models, car_id) && car_i != nothing # find the exact route from the list of routes curr_route = [l.tag for l in pomdp.models[car_id].navigator.route] for route in get_car_routes(mdp.env) diff --git a/src/explicit_pomdps/pedcar_mdp/driver_models_helpers.jl b/src/explicit_pomdps/pedcar_mdp/driver_models_helpers.jl index 73133b1..b8a4dba 100644 --- a/src/explicit_pomdps/pedcar_mdp/driver_models_helpers.jl +++ b/src/explicit_pomdps/pedcar_mdp/driver_models_helpers.jl @@ -150,7 +150,7 @@ function AutomotiveDrivingModels.observe!(model::RouteFollowingIDM, model.a = clamp(acc, -model.d_max, model.a_max) # fore = is_neighbor_fore_along_lane(car, ego, roadway) # v_car = car.v - # if fore.ind != 0 + # if fore.ind != nothing # headway, v_oth = fore.Δs, car.v # else # headway, v_oth = NaN, NaN @@ -217,7 +217,7 @@ function is_neighbor_fore_along_lane( max_distance_fore::Float64 = 250.0, # max distance to search forward [m] ) - best_ind = 0 + best_ind = nothing best_dist = max_distance_fore tag_target = tag_start lane = roadway[tag_target] @@ -254,7 +254,7 @@ function is_neighbor_fore_along_lane( end end end - if best_ind != 0 + if best_ind != nothing break end diff --git a/src/explicit_pomdps/pedcar_mdp/high_fidelity.jl b/src/explicit_pomdps/pedcar_mdp/high_fidelity.jl index c4f0b3b..35e60f7 100644 --- a/src/explicit_pomdps/pedcar_mdp/high_fidelity.jl +++ b/src/explicit_pomdps/pedcar_mdp/high_fidelity.jl @@ -24,18 +24,18 @@ end function get_mdp_state(mdp::PedCarMDP, pomdp::UrbanPOMDP, s::Scene, ped_id, car_id) car_i = findfirst(car_id, s) car = Vehicle(get_off_the_grid(mdp), mdp.car_type, car_id) - if car_i != 0 + if car_i != nothing car = s[car_i] end ped_i = findfirst(ped_id, s) ped = Vehicle(get_off_the_grid(mdp), mdp.ped_type, ped_id) - if ped_i != 0 + if ped_i != nothing ped = s[ped_i] end ego = get_ego(s) # find route sroute = nothing - if haskey(pomdp.models, car_id) && car_i != 0 + if haskey(pomdp.models, car_id) && car_i != nothing # find the exact route from the list of routes curr_route = [l.tag for l in pomdp.models[car_id].navigator.route] for route in get_car_routes(mdp.env) diff --git a/src/explicit_pomdps/pedcar_mdp/state_space.jl b/src/explicit_pomdps/pedcar_mdp/state_space.jl index 55ca821..67fe2a1 100644 --- a/src/explicit_pomdps/pedcar_mdp/state_space.jl +++ b/src/explicit_pomdps/pedcar_mdp/state_space.jl @@ -103,7 +103,7 @@ function ind2state(mdp::PedCarMDP, si::Int64) car, ped, ego = nothing, nothing, nothing # find route first ns = 0 - route_ind = 0 + route_ind = nothing route_shift = 0 for (i, route) in enumerate(routes) n_cars = n_car_states(mdp.env, route, mdp.pos_res, mdp.vel_res) @@ -115,7 +115,7 @@ function ind2state(mdp::PedCarMDP, si::Int64) end end # find car, ped, ego - if route_ind == 0 # route was not found, car is off the grid + if route_ind == nothing # route was not found, car is off the grid si_ = si - ns # shift by all the states that were added before car = get_off_the_grid(mdp) # retrieve ped and ego diff --git a/src/explicit_pomdps/pedestrian_mdp/high_fidelity.jl b/src/explicit_pomdps/pedestrian_mdp/high_fidelity.jl index 7a43da9..48c55ef 100644 --- a/src/explicit_pomdps/pedestrian_mdp/high_fidelity.jl +++ b/src/explicit_pomdps/pedestrian_mdp/high_fidelity.jl @@ -22,7 +22,7 @@ end function get_mdp_state(mdp::PedMDP, s::Scene, ped_id::Int64) ped_i = findfirst(ped_id, s) ped = Vehicle(get_off_the_grid(mdp), mdp.ped_type, ped_id) - if ped_i != 0 + if ped_i != nothing ped = s[ped_i] end ego = get_ego(s) diff --git a/src/generative_pomdps/old_multi_intersection/generative_model.jl b/src/generative_pomdps/old_multi_intersection/generative_model.jl index ce77509..24ee30a 100644 --- a/src/generative_pomdps/old_multi_intersection/generative_model.jl +++ b/src/generative_pomdps/old_multi_intersection/generative_model.jl @@ -73,7 +73,7 @@ function clean_scene!(env::IntersectionEnv, scene::Scene) if veh.id == 1; continue; end fore = get_neighbor_fore_along_lane(scene, findfirst(veh.id, scene), env.roadway, VehicleTargetPointFront(), VehicleTargetPointRear(), VehicleTargetPointFront()) - if fore.ind != 0 + if fore.ind != nothing headway, v_oth = fore.Δs, scene[fore.ind].state.v else headway, v_oth = NaN, NaN @@ -161,7 +161,7 @@ function can_push(env, scene::Scene, car::Vehicle) end fore = get_neighbor_fore_along_lane(scene, findfirst(car.id, scene), env.roadway, VehicleTargetPointFront(), VehicleTargetPointRear(), VehicleTargetPointFront()) - if fore.ind != 0 + if fore.ind != nothing headway, v_oth = fore.Δs, scene[fore.ind].state.v else headway, v_oth = NaN, NaN diff --git a/src/generative_pomdps/old_multi_intersection/lane_keeper_idm.jl b/src/generative_pomdps/old_multi_intersection/lane_keeper_idm.jl index fa8e1ab..3a13d48 100644 --- a/src/generative_pomdps/old_multi_intersection/lane_keeper_idm.jl +++ b/src/generative_pomdps/old_multi_intersection/lane_keeper_idm.jl @@ -92,7 +92,7 @@ function AutomotiveDrivingModels.observe!(model::IntelligentDriverModel2D, scene VehicleTargetPointFront(), VehicleTargetPointRear(), VehicleTargetPointFront()) v_ego = scene[vehicle_index].state.v - if fore.ind != 0 + if fore.ind != nothing headway, v_oth = fore.Δs, scene[fore.ind].state.v else headway, v_oth = NaN, NaN diff --git a/src/generative_pomdps/urban/generative_model.jl b/src/generative_pomdps/urban/generative_model.jl index b5d26df..42afc74 100644 --- a/src/generative_pomdps/urban/generative_model.jl +++ b/src/generative_pomdps/urban/generative_model.jl @@ -42,7 +42,8 @@ function POMDPs.generate_s(pomdp::UrbanPOMDP, s::UrbanState, a::UrbanAction, rng end actions = Array{Any}(undef, length(s)) pomdp.models[1].a = a - is_ego_here = clamp(findfirst(EGO_ID, s),0, 1) + ego_ind = findfirst(EGO_ID, s) + is_ego_here = ego_ind == nothing ? 0 : 1 sp = deepcopy(s) #XXX bad if rand(rng) < pomdp.car_birth && n_cars(s) < pomdp.max_cars + is_ego_here new_car = initial_car(pomdp, sp, rng) diff --git a/src/utils/helpers.jl b/src/utils/helpers.jl index 079a22d..d89faaa 100644 --- a/src/utils/helpers.jl +++ b/src/utils/helpers.jl @@ -130,8 +130,6 @@ function get_end(lane::Lane) return s_end end - - """ return the list of entrance lanes, i.e. the one that does not have any entrances """ @@ -217,6 +215,11 @@ function get_exit_lanes(lanes::Vector{Lane}, roadway::Roadway) return exits end +""" + lane_to_segment(lane::Lane, roadway::Roadway) +Converts a lane to a LineSegment. +It only works for straight lanes! +""" function lane_to_segment(lane::Lane, roadway::Roadway) # only works for straight lanes lane_a = lane.curve[1].pos #get_posG(Frenet(lane, 0.), roadway) @@ -224,6 +227,10 @@ function lane_to_segment(lane::Lane, roadway::Roadway) return LineSegment(lane_a, lane_b) end +""" + get_conflict_lanes(crosswalk::Lane, roadway::Roadway) +Find the lanes in roadway that intersects with a crosswalk +""" function get_conflict_lanes(crosswalk::Lane, roadway::Roadway) # find lane intersecting with crosswalk cw_seg = lane_to_segment(crosswalk, roadway) @@ -243,6 +250,7 @@ end """ + random_route(rng::AbstractRNG, roadway::Roadway, start_lane::Lane) Generate a random route starting from start_lane to a random end node """ function random_route(rng::AbstractRNG, roadway::Roadway, start_lane::Lane) diff --git a/test/collisionchecker_tests.jl b/test/collisionchecker_tests.jl new file mode 100644 index 0000000..f020a59 --- /dev/null +++ b/test/collisionchecker_tests.jl @@ -0,0 +1,43 @@ +using AutomotiveDrivingModels + + +const ROADWAY = gen_straight_roadway(1, 20.0) + +function create_vehicle(x::Float64, y::Float64, θ::Float64 = 0.0; id::Int64=1) + s = VehicleState(VecSE2(x, y, θ), ROADWAY, 0.0) + return Vehicle(s, VehicleDef(), id) +end + +const VEH_REF = create_vehicle(0.0, 0.0, 0.0, id=1) + +function no_collisions(xspace, yspace, thetaspace) + for (x,y,th) in zip(xspace, yspace, thetaspace) + veh2 = create_vehicle(x,y,th,id=2) + @assert !collision_checker(VEH_REF, veh2) "Error for veh ", veh2 + end + return true +end + +function collisions(xspace, yspace, thetaspace) + for (x,y,th) in zip(xspace, yspace, thetaspace) + veh2 = create_vehicle(x,y,th,id=2) + @assert collision_checker(VEH_REF, veh2) "Error for veh ", veh2 + end + return true +end + + +@testset begin "collision checker" + ## Series of test 1: Far field + thetaspace = LinRange(0.0, 2*float(pi), 10) + xspace = LinRange(15.0, 300.0, 10) + yspace = LinRange(10.0, 300.0, 10) + @test no_collisions(xspace, yspace, thetaspace) + + ## Series of test 2: Superposition + thetaspace = LinRange(0.0, 2*float(pi), 10) + xspace = LinRange(-2.0, 2.0, 10) + yspace = LinRange(1.5, 1.5, 10) + + @test collisions(xspace,yspace,thetaspace) +end \ No newline at end of file diff --git a/test/crosswalk_tests.jl b/test/crosswalk_tests.jl new file mode 100644 index 0000000..edd5d4c --- /dev/null +++ b/test/crosswalk_tests.jl @@ -0,0 +1,26 @@ +using POMDPs +using Random +using POMDPSimulators +using RLInterface +using BeliefUpdaters +using POMDPPolicies + +@testset begin "crosswalk" + rng = MersenneTwister(1) + + pomdp = OCPOMDP(ΔT = 0.5, p_birth = 0.3, max_peds = 1) + + env = KMarkovEnvironment(pomdp, k=4) + + up = KMarkovUpdater(4) + + policy = RandomPolicy(pomdp, rng=rng) + + hr = HistoryRecorder(rng=rng, max_steps = 100) + s0 = initialstate(pomdp, rng) + initial_observation = generate_o(pomdp, s0, rng) + initial_obs_vec = fill(initial_observation, 4) + hist = simulate(hr, pomdp, policy, up, initial_obs_vec, s0) + + @test n_steps(hist) > 1 +end \ No newline at end of file diff --git a/test/runtests.jl b/test/runtests.jl index f1cace7..bdfb379 100644 --- a/test/runtests.jl +++ b/test/runtests.jl @@ -1,5 +1,6 @@ using AutomotivePOMDPs using Test -# write your own tests here -@test 1 == 2 +include("collisionchecker_tests.jl") +include("crosswalk_tests.jl") +include("urbanpomdp_tests.jl") \ No newline at end of file diff --git a/test/urbanpomdp_tests.jl b/test/urbanpomdp_tests.jl new file mode 100644 index 0000000..1491514 --- /dev/null +++ b/test/urbanpomdp_tests.jl @@ -0,0 +1,39 @@ +using AutomotiveDrivingModels +using POMDPs +using POMDPSimulators +using POMDPPolicies +using BeliefUpdaters +using RLInterface +using Random + +@testset begin "Urban POMDP" + rng = MersenneTwister(1) + + params = UrbanParams(nlanes_main=1, + crosswalk_pos =[VecSE2(6, 0., pi/2), VecSE2(-6, 0., pi/2), VecSE2(0., -5., 0.)], + crosswalk_length = [14.0, 14., 14.0], + crosswalk_width = [4.0, 4.0, 3.1], + stop_line = 22.0) + env = UrbanEnv(params=params) + pomdp = UrbanPOMDP(env=env, + ego_goal = LaneTag(2, 1), + max_cars=5, + max_peds=5, + car_birth=0.5, + ped_birth=0.2, + max_obstacles=0, # no fixed obstacles + ego_start=20, + ΔT=0.1); + + up = KMarkovUpdater(4) + + policy = RandomPolicy(pomdp, rng=rng) + + hr = HistoryRecorder(rng=rng, max_steps = 100) + s0 = initialstate(pomdp, rng) + initial_observation = generate_o(pomdp, s0, rng) + initial_obs_vec = fill(initial_observation, 4) + hist = simulate(hr, pomdp, policy, up, initial_obs_vec, s0) + + @test n_steps(hist) > 1 +end From a37542cd4591c2d7c89974368266d5d0e2fd2d21 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 17:52:15 -0700 Subject: [PATCH 12/16] travis mac os --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 62f5e18..e86ab4f 100644 --- a/.travis.yml +++ b/.travis.yml @@ -21,8 +21,8 @@ addons: apt: # apt-get for linux packages: - libgtk-3-dev -#before_script: # homebrew for mac -# - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi +before_script: # homebrew for mac + - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi ## uncomment the following lines to override the default test script script: From 18c262c2161b2ec57e54b58eaea0e61a5d5ee635 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 17:57:53 -0700 Subject: [PATCH 13/16] add doc badge --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 3ffe0d8..7e843ed 100644 --- a/README.md +++ b/README.md @@ -2,6 +2,7 @@ [![Build Status](https://travis-ci.org/sisl/AutomotivePOMDPs.jl.svg?branch=master)](https://travis-ci.org/sisl/AutomotivePOMDPs.jl) [![Coverage Status](https://coveralls.io/repos/github/sisl/AutomotivePOMDPs.jl/badge.svg?branch=master)](https://coveralls.io/github/sisl/AutomotivePOMDPs.jl?branch=master) +[![](https://img.shields.io/badge/docs-latest-blue.svg)](https://sisl.github.io/AutomotivePOMDPs.jl/latest) contact: Maxime Bouton, [boutonm@stanford.edu](boutonm@stanford.edu) From 23b816ae67ab827ddd59bd7979e5046840438a0a Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 18:42:26 -0700 Subject: [PATCH 14/16] remove pedcar from export --- src/AutomotivePOMDPs.jl | 1 - 1 file changed, 1 deletion(-) diff --git a/src/AutomotivePOMDPs.jl b/src/AutomotivePOMDPs.jl index e173de8..4f89c17 100644 --- a/src/AutomotivePOMDPs.jl +++ b/src/AutomotivePOMDPs.jl @@ -258,7 +258,6 @@ include("explicit_pomdps/interpolation.jl") export # decomposition stuff TwoCars, - PedCar, ObsPed, ObsCar, TwoCarsScenario, From f543e0e79affd3566ebe14e11d6eb2d6d4685b39 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 18:51:25 -0700 Subject: [PATCH 15/16] remove osx from travis --- .travis.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.travis.yml b/.travis.yml index e86ab4f..94e5a11 100644 --- a/.travis.yml +++ b/.travis.yml @@ -2,7 +2,7 @@ language: julia os: - linux - - osx + # - osx julia: - 1.0 - 1.1 From 5481e77f71e6312f36ef765e830add215e77e827 Mon Sep 17 00:00:00 2001 From: MaximeBouton Date: Fri, 15 Mar 2019 18:51:37 -0700 Subject: [PATCH 16/16] remove pedcar from export --- .travis.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.travis.yml b/.travis.yml index 94e5a11..87b0ae0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -21,8 +21,8 @@ addons: apt: # apt-get for linux packages: - libgtk-3-dev -before_script: # homebrew for mac - - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi +# before_script: # homebrew for mac +# - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi ## uncomment the following lines to override the default test script script: