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e=this;this._destroy(),t.each(this.classesElementLookup,function(t,i){e._removeClass(i,t)}),this.element.off(this.eventNamespace).removeData(this.widgetFullName),this.widget().off(this.eventNamespace).removeAttr("aria-disabled"),this.bindings.off(this.eventNamespace)},_destroy:t.noop,widget:function(){return this.element},option:function(e,i){var s,n,o,a=e;if(0===arguments.length)return t.widget.extend({},this.options);if("string"==typeof e)if(a={},s=e.split("."),e=s.shift(),s.length){for(n=a[e]=t.widget.extend({},this.options[e]),o=0;s.length-1>o;o++)n[s[o]]=n[s[o]]||{},n=n[s[o]];if(e=s.pop(),1===arguments.length)return void 0===n[e]?null:n[e];n[e]=i}else{if(1===arguments.length)return void 0===this.options[e]?null:this.options[e];a[e]=i}return this._setOptions(a),this},_setOptions:function(t){var e;for(e in t)this._setOption(e,t[e]);return this},_setOption:function(t,e){return"classes"===t&&this._setOptionClasses(e),this.options[t]=e,"disabled"===t&&this._setOptionDisabled(e),this},_setOptionClasses:function(e){var i,s,n;for(i in e)n=this.classesElementLookup[i],e[i]!==this.options.classes[i]&&n&&n.length&&(s=t(n.get()),this._removeClass(n,i),s.addClass(this._classes({element:s,keys:i,classes:e,add:!0})))},_setOptionDisabled:function(t){this._toggleClass(this.widget(),this.widgetFullName+"-disabled",null,!!t),t&&(this._removeClass(this.hoverable,null,"ui-state-hover"),this._removeClass(this.focusable,null,"ui-state-focus"))},enable:function(){return this._setOptions({disabled:!1})},disable:function(){return this._setOptions({disabled:!0})},_classes:function(e){function i(i,o){var a,r;for(r=0;i.length>r;r++)a=n.classesElementLookup[i[r]]||t(),a=e.add?t(t.unique(a.get().concat(e.element.get()))):t(a.not(e.element).get()),n.classesElementLookup[i[r]]=a,s.push(i[r]),o&&e.classes[i[r]]&&s.push(e.classes[i[r]])}var 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setTimeout(i,e||0)},_hoverable:function(e){this.hoverable=this.hoverable.add(e),this._on(e,{mouseenter:function(e){this._addClass(t(e.currentTarget),null,"ui-state-hover")},mouseleave:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-hover")}})},_focusable:function(e){this.focusable=this.focusable.add(e),this._on(e,{focusin:function(e){this._addClass(t(e.currentTarget),null,"ui-state-focus")},focusout:function(e){this._removeClass(t(e.currentTarget),null,"ui-state-focus")}})},_trigger:function(e,i,s){var n,o,a=this.options[e];if(s=s||{},i=t.Event(i),i.type=(e===this.widgetEventPrefix?e:this.widgetEventPrefix+e).toLowerCase(),i.target=this.element[0],o=i.originalEvent)for(n in o)n in i||(i[n]=o[n]);return this.element.trigger(i,s),!(t.isFunction(a)&&a.apply(this.element[0],[i].concat(s))===!1||i.isDefaultPrevented())}},t.each({show:"fadeIn",hide:"fadeOut"},function(e,i){t.Widget.prototype["_"+e]=function(s,n,o){"string"==typeof n&&(n={effect:n});var a,r=n?n===!0||"number"==typeof n?i:n.effect||i:e;n=n||{},"number"==typeof n&&(n={duration:n}),a=!t.isEmptyObject(n),n.complete=o,n.delay&&s.delay(n.delay),a&&t.effects&&t.effects.effect[r]?s[e](n):r!==e&&s[r]?s[r](n.duration,n.easing,o):s.queue(function(i){t(this)[e](),o&&o.call(s[0]),i()})}}),t.widget,function(){function e(t,e,i){return[parseFloat(t[0])*(u.test(t[0])?e/100:1),parseFloat(t[1])*(u.test(t[1])?i/100:1)]}function i(e,i){return parseInt(t.css(e,i),10)||0}function s(e){var i=e[0];return 9===i.nodeType?{width:e.width(),height:e.height(),offset:{top:0,left:0}}:t.isWindow(i)?{width:e.width(),height:e.height(),offset:{top:e.scrollTop(),left:e.scrollLeft()}}:i.preventDefault?{width:0,height:0,offset:{top:i.pageY,left:i.pageX}}:{width:e.outerWidth(),height:e.outerHeight(),offset:e.offset()}}var n,o=Math.max,a=Math.abs,r=/left|center|right/,h=/top|center|bottom/,l=/[\+\-]\d+(\.[\d]+)?%?/,c=/^\w+/,u=/%$/,d=t.fn.position;t.position={scrollbarWidth:function(){if(void 0!==n)return n;var e,i,s=t("
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i,s,n=e.within,o=n.offset.left+n.scrollLeft,r=n.width,h=n.isWindow?n.scrollLeft:n.offset.left,l=t.left-e.collisionPosition.marginLeft,c=l-h,u=l+e.collisionWidth-r-h,d="left"===e.my[0]?-e.elemWidth:"right"===e.my[0]?e.elemWidth:0,p="left"===e.at[0]?e.targetWidth:"right"===e.at[0]?-e.targetWidth:0,f=-2*e.offset[0];0>c?(i=t.left+d+p+f+e.collisionWidth-r-o,(0>i||a(c)>i)&&(t.left+=d+p+f)):u>0&&(s=t.left-e.collisionPosition.marginLeft+d+p+f-h,(s>0||u>a(s))&&(t.left+=d+p+f))},top:function(t,e){var i,s,n=e.within,o=n.offset.top+n.scrollTop,r=n.height,h=n.isWindow?n.scrollTop:n.offset.top,l=t.top-e.collisionPosition.marginTop,c=l-h,u=l+e.collisionHeight-r-h,d="top"===e.my[1],p=d?-e.elemHeight:"bottom"===e.my[1]?e.elemHeight:0,f="top"===e.at[1]?e.targetHeight:"bottom"===e.at[1]?-e.targetHeight:0,m=-2*e.offset[1];0>c?(s=t.top+p+f+m+e.collisionHeight-r-o,(0>s||a(c)>s)&&(t.top+=p+f+m)):u>0&&(i=t.top-e.collisionPosition.marginTop+p+f+m-h,(i>0||u>a(i))&&(t.top+=p+f+m))}},flipfit:{left:function(){t.ui.position.flip.left.apply(this,arguments),t.ui.position.fit.left.apply(this,arguments)},top:function(){t.ui.position.flip.top.apply(this,arguments),t.ui.position.fit.top.apply(this,arguments)}}}}(),t.ui.position,t.extend(t.expr[":"],{data:t.expr.createPseudo?t.expr.createPseudo(function(e){return function(i){return!!t.data(i,e)}}):function(e,i,s){return!!t.data(e,s[3])}}),t.fn.extend({disableSelection:function(){var t="onselectstart"in document.createElement("div")?"selectstart":"mousedown";return function(){return this.on(t+".ui-disableSelection",function(t){t.preventDefault()})}}(),enableSelection:function(){return this.off(".ui-disableSelection")}}),t.ui.focusable=function(i,s){var n,o,a,r,h,l=i.nodeName.toLowerCase();return"area"===l?(n=i.parentNode,o=n.name,i.href&&o&&"map"===n.nodeName.toLowerCase()?(a=t("img[usemap='#"+o+"']"),a.length>0&&a.is(":visible")):!1):(/^(input|select|textarea|button|object)$/.test(l)?(r=!i.disabled,r&&(h=t(i).closest("fieldset")[0],h&&(r=!h.disabled))):r="a"===l?i.href||s:s,r&&t(i).is(":visible")&&e(t(i)))},t.extend(t.expr[":"],{focusable:function(e){return t.ui.focusable(e,null!=t.attr(e,"tabindex"))}}),t.ui.focusable,t.fn.form=function(){return"string"==typeof this[0].form?this.closest("form"):t(this[0].form)},t.ui.formResetMixin={_formResetHandler:function(){var e=t(this);setTimeout(function(){var i=e.data("ui-form-reset-instances");t.each(i,function(){this.refresh()})})},_bindFormResetHandler:function(){if(this.form=this.element.form(),this.form.length){var t=this.form.data("ui-form-reset-instances")||[];t.length||this.form.on("reset.ui-form-reset",this._formResetHandler),t.push(this),this.form.data("ui-form-reset-instances",t)}},_unbindFormResetHandler:function(){if(this.form.length){var e=this.form.data("ui-form-reset-instances");e.splice(t.inArray(this,e),1),e.length?this.form.data("ui-form-reset-instances",e):this.form.removeData("ui-form-reset-instances").off("reset.ui-form-reset")}}},"1.7"===t.fn.jquery.substring(0,3)&&(t.each(["Width","Height"],function(e,i){function s(e,i,s,o){return t.each(n,function(){i-=parseFloat(t.css(e,"padding"+this))||0,s&&(i-=parseFloat(t.css(e,"border"+this+"Width"))||0),o&&(i-=parseFloat(t.css(e,"margin"+this))||0)}),i}var n="Width"===i?["Left","Right"]:["Top","Bottom"],o=i.toLowerCase(),a={innerWidth:t.fn.innerWidth,innerHeight:t.fn.innerHeight,outerWidth:t.fn.outerWidth,outerHeight:t.fn.outerHeight};t.fn["inner"+i]=function(e){return void 0===e?a["inner"+i].call(this):this.each(function(){t(this).css(o,s(this,e)+"px")})},t.fn["outer"+i]=function(e,n){return"number"!=typeof e?a["outer"+i].call(this,e):this.each(function(){t(this).css(o,s(this,e,!0,n)+"px")})}}),t.fn.addBack=function(t){return this.add(null==t?this.prevObject:this.prevObject.filter(t))}),t.ui.keyCode={BACKSPACE:8,COMMA:188,DELETE:46,DOWN:40,END:35,ENTER:13,ESCAPE:27,HOME:36,LEFT:37,PAGE_DOWN:34,PAGE_UP:33,PERIOD:190,RIGHT:39,SPACE:32,TAB:9,UP:38},t.ui.escapeSelector=function(){var t=/([!"#$%&'()*+,./:;<=>?@[\]^`{|}~])/g;return function(e){return e.replace(t,"\\$1")}}(),t.fn.labels=function(){var e,i,s,n,o;return this[0].labels&&this[0].labels.length?this.pushStack(this[0].labels):(n=this.eq(0).parents("label"),s=this.attr("id"),s&&(e=this.eq(0).parents().last(),o=e.add(e.length?e.siblings():this.siblings()),i="label[for='"+t.ui.escapeSelector(s)+"']",n=n.add(o.find(i).addBack(i))),this.pushStack(n))},t.fn.scrollParent=function(e){var i=this.css("position"),s="absolute"===i,n=e?/(auto|scroll|hidden)/:/(auto|scroll)/,o=this.parents().filter(function(){var e=t(this);return s&&"static"===e.css("position")?!1:n.test(e.css("overflow")+e.css("overflow-y")+e.css("overflow-x"))}).eq(0);return"fixed"!==i&&o.length?o:t(this[0].ownerDocument||document)},t.extend(t.expr[":"],{tabbable:function(e){var i=t.attr(e,"tabindex"),s=null!=i;return(!s||i>=0)&&t.ui.focusable(e,s)}}),t.fn.extend({uniqueId:function(){var t=0;return function(){return this.each(function(){this.id||(this.id="ui-id-"+ ++t)})}}(),removeUniqueId:function(){return this.each(function(){/^ui-id-\d+$/.test(this.id)&&t(this).removeAttr("id")})}}),t.ui.ie=!!/msie [\w.]+/.exec(navigator.userAgent.toLowerCase());var n=!1;t(document).on("mouseup",function(){n=!1}),t.widget("ui.mouse",{version:"1.12.1",options:{cancel:"input, textarea, button, select, option",distance:1,delay:0},_mouseInit:function(){var e=this;this.element.on("mousedown."+this.widgetName,function(t){return e._mouseDown(t)}).on("click."+this.widgetName,function(i){return!0===t.data(i.target,e.widgetName+".preventClickEvent")?(t.removeData(i.target,e.widgetName+".preventClickEvent"),i.stopImmediatePropagation(),!1):void 0}),this.started=!1},_mouseDestroy:function(){this.element.off("."+this.widgetName),this._mouseMoveDelegate&&this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate)},_mouseDown:function(e){if(!n){this._mouseMoved=!1,this._mouseStarted&&this._mouseUp(e),this._mouseDownEvent=e;var i=this,s=1===e.which,o="string"==typeof this.options.cancel&&e.target.nodeName?t(e.target).closest(this.options.cancel).length:!1;return s&&!o&&this._mouseCapture(e)?(this.mouseDelayMet=!this.options.delay,this.mouseDelayMet||(this._mouseDelayTimer=setTimeout(function(){i.mouseDelayMet=!0},this.options.delay)),this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(e)!==!1,!this._mouseStarted)?(e.preventDefault(),!0):(!0===t.data(e.target,this.widgetName+".preventClickEvent")&&t.removeData(e.target,this.widgetName+".preventClickEvent"),this._mouseMoveDelegate=function(t){return i._mouseMove(t)},this._mouseUpDelegate=function(t){return i._mouseUp(t)},this.document.on("mousemove."+this.widgetName,this._mouseMoveDelegate).on("mouseup."+this.widgetName,this._mouseUpDelegate),e.preventDefault(),n=!0,!0)):!0}},_mouseMove:function(e){if(this._mouseMoved){if(t.ui.ie&&(!document.documentMode||9>document.documentMode)&&!e.button)return this._mouseUp(e);if(!e.which)if(e.originalEvent.altKey||e.originalEvent.ctrlKey||e.originalEvent.metaKey||e.originalEvent.shiftKey)this.ignoreMissingWhich=!0;else if(!this.ignoreMissingWhich)return this._mouseUp(e)}return(e.which||e.button)&&(this._mouseMoved=!0),this._mouseStarted?(this._mouseDrag(e),e.preventDefault()):(this._mouseDistanceMet(e)&&this._mouseDelayMet(e)&&(this._mouseStarted=this._mouseStart(this._mouseDownEvent,e)!==!1,this._mouseStarted?this._mouseDrag(e):this._mouseUp(e)),!this._mouseStarted)},_mouseUp:function(e){this.document.off("mousemove."+this.widgetName,this._mouseMoveDelegate).off("mouseup."+this.widgetName,this._mouseUpDelegate),this._mouseStarted&&(this._mouseStarted=!1,e.target===this._mouseDownEvent.target&&t.data(e.target,this.widgetName+".preventClickEvent",!0),this._mouseStop(e)),this._mouseDelayTimer&&(clearTimeout(this._mouseDelayTimer),delete this._mouseDelayTimer),this.ignoreMissingWhich=!1,n=!1,e.preventDefault()},_mouseDistanceMet:function(t){return Math.max(Math.abs(this._mouseDownEvent.pageX-t.pageX),Math.abs(this._mouseDownEvent.pageY-t.pageY))>=this.options.distance},_mouseDelayMet:function(){return this.mouseDelayMet},_mouseStart:function(){},_mouseDrag:function(){},_mouseStop:function(){},_mouseCapture:function(){return!0}}),t.ui.plugin={add:function(e,i,s){var n,o=t.ui[e].prototype;for(n in s)o.plugins[n]=o.plugins[n]||[],o.plugins[n].push([i,s[n]])},call:function(t,e,i,s){var n,o=t.plugins[e];if(o&&(s||t.element[0].parentNode&&11!==t.element[0].parentNode.nodeType))for(n=0;o.length>n;n++)t.options[o[n][0]]&&o[n][1].apply(t.element,i)}},t.widget("ui.resizable",t.ui.mouse,{version:"1.12.1",widgetEventPrefix:"resize",options:{alsoResize:!1,animate:!1,animateDuration:"slow",animateEasing:"swing",aspectRatio:!1,autoHide:!1,classes:{"ui-resizable-se":"ui-icon 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- * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
- * Licensed under MIT
- * @author Ariel Flesler
- * @version 2.1.2
- */
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++this.idInc,a=t.attr("id")||this.accessIdPrefix+ ++this.idInc;s.attr({id:o,"aria-haspopup":"true","aria-controls":a,"aria-expanded":"false"}),t.attr({id:a,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"}),this.opts.subIndicators&&s[this.opts.subIndicatorsPos](this.$subArrow.clone())}},menuPosition:function(t){var e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}},rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new $.SmartMenus(this,$.extend({},$.fn.smartmenus.defaults,options,dataOpts))})},$.fn.smartmenus.defaults={isPopup:!1,mainMenuSubOffsetX:0,mainMenuSubOffsetY:0,subMenusSubOffsetX:0,subMenusSubOffsetY:0,subMenusMinWidth:"10em",subMenusMaxWidth:"20em",subIndicators:!0,subIndicatorsPos:"append",subIndicatorsText:"",scrollStep:30,scrollAccelerate:!0,showTimeout:250,hideTimeout:500,showDuration:0,showFunction:null,hideDuration:0,hideFunction:function(t,e){t.fadeOut(200,e)},collapsibleShowDuration:0,collapsibleShowFunction:function(t,e){t.slideDown(200,e)},collapsibleHideDuration:0,collapsibleHideFunction:function(t,e){t.slideUp(200,e)},showOnClick:!1,hideOnClick:!0,noMouseOver:!1,keepInViewport:!0,keepHighlighted:!0,markCurrentItem:!1,markCurrentTree:!0,rightToLeftSubMenus:!1,bottomToTopSubMenus:!1,collapsibleBehavior:"default"},$});
\ No newline at end of file
diff --git a/docs/html/menu.js b/docs/html/menu.js
deleted file mode 100644
index 433c15b8..00000000
--- a/docs/html/menu.js
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- @licstart The following is the entire license notice for the
- JavaScript code in this file.
-
- Copyright (C) 1997-2017 by Dimitri van Heesch
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; either version 2 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License along
- with this program; if not, write to the Free Software Foundation, Inc.,
- 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
-
- @licend The above is the entire license notice
- for the JavaScript code in this file
- */
-function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
- function makeTree(data,relPath) {
- var result='';
- if ('children' in data) {
- result+='';
- }
- return result;
- }
-
- $('#main-nav').append(makeTree(menudata,relPath));
- $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
- if (searchEnabled) {
- if (serverSide) {
- $('#main-menu').append('f1tenth_gym: f110_gym.unittest.random_trackgen Namespace Reference
-
-
-
-
-
-
- f1tenth_gym
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-create_track () convert_track (track, track_int, track_ext, iter)
-NUM_MAPS = 10 WIDTH = 5.0 track track_int track_ext
-
-
Generates random tracks.
- Adapted from https://gym.openai.com/envs/CarRacing-v0 f1tenth_gym: Namespace List
-
-
-
-
-
-
- f1tenth_gym
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
Here is a list of all documented namespaces with brief descriptions:
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
-
-
- image/svg+xml
-
-
-
-
diff --git a/docs/html/search/functions_0.html b/docs/html/search/functions_0.html
deleted file mode 100644
index e17c7111..00000000
--- a/docs/html/search/functions_0.html
+++ /dev/null
@@ -1,30 +0,0 @@
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
-
-
-
- image/svg+xml
-
-
-
-
diff --git a/docs/html/search/namespaces_0.html b/docs/html/search/namespaces_0.html
deleted file mode 100644
index 21db2c3a..00000000
--- a/docs/html/search/namespaces_0.html
+++ /dev/null
@@ -1,37 +0,0 @@
-
-
-
-
Loading...
-
-
-
Searching...
-
No Matches
-
-
do a search
- {
- this.Search();
- }
- }
-
- this.OnSearchSelectKey = function(evt)
- {
- var e = (evt) ? evt : window.event; // for IE
- if (e.keyCode==40 && this.searchIndex0) // Up
- {
- this.searchIndex--;
- this.OnSelectItem(this.searchIndex);
- }
- else if (e.keyCode==13 || e.keyCode==27)
- {
- this.OnSelectItem(this.searchIndex);
- this.CloseSelectionWindow();
- this.DOMSearchField().focus();
- }
- return false;
- }
-
- // --------- Actions
-
- // Closes the results window.
- this.CloseResultsWindow = function()
- {
- this.DOMPopupSearchResultsWindow().style.display = 'none';
- this.DOMSearchClose().style.display = 'none';
- this.Activate(false);
- }
-
- this.CloseSelectionWindow = function()
- {
- this.DOMSearchSelectWindow().style.display = 'none';
- }
-
- // Performs a search.
- this.Search = function()
- {
- this.keyTimeout = 0;
-
- // strip leading whitespace
- var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
-
- var code = searchValue.toLowerCase().charCodeAt(0);
- var idxChar = searchValue.substr(0, 1).toLowerCase();
- if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
- {
- idxChar = searchValue.substr(0, 2);
- }
-
- var resultsPage;
- var resultsPageWithSearch;
- var hasResultsPage;
-
- var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
- if (idx!=-1)
- {
- var hexCode=idx.toString(16);
- resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html';
- resultsPageWithSearch = resultsPage+'?'+escape(searchValue);
- hasResultsPage = true;
- }
- else // nothing available for this search term
- {
- resultsPage = this.resultsPath + '/nomatches.html';
- resultsPageWithSearch = resultsPage;
- hasResultsPage = false;
- }
-
- window.frames.MSearchResults.location = resultsPageWithSearch;
- var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
-
- if (domPopupSearchResultsWindow.style.display!='block')
- {
- var domSearchBox = this.DOMSearchBox();
- this.DOMSearchClose().style.display = 'inline';
- if (this.insideFrame)
- {
- var domPopupSearchResults = this.DOMPopupSearchResults();
- domPopupSearchResultsWindow.style.position = 'relative';
- domPopupSearchResultsWindow.style.display = 'block';
- var width = document.body.clientWidth - 8; // the -8 is for IE :-(
- domPopupSearchResultsWindow.style.width = width + 'px';
- domPopupSearchResults.style.width = width + 'px';
- }
- else
- {
- var domPopupSearchResults = this.DOMPopupSearchResults();
- var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth;
- var top = getYPos(domSearchBox) + 20; // domSearchBox.offsetHeight + 1;
- domPopupSearchResultsWindow.style.display = 'block';
- left -= domPopupSearchResults.offsetWidth;
- domPopupSearchResultsWindow.style.top = top + 'px';
- domPopupSearchResultsWindow.style.left = left + 'px';
- }
- }
-
- this.lastSearchValue = searchValue;
- this.lastResultsPage = resultsPage;
- }
-
- // -------- Activation Functions
-
- // Activates or deactivates the search panel, resetting things to
- // their default values if necessary.
- this.Activate = function(isActive)
- {
- if (isActive || // open it
- this.DOMPopupSearchResultsWindow().style.display == 'block'
- )
- {
- this.DOMSearchBox().className = 'MSearchBoxActive';
-
- var searchField = this.DOMSearchField();
-
- if (searchField.value == this.searchLabel) // clear "Search" term upon entry
- {
- searchField.value = '';
- this.searchActive = true;
- }
- }
- else if (!isActive) // directly remove the panel
- {
- this.DOMSearchBox().className = 'MSearchBoxInactive';
- this.DOMSearchField().value = this.searchLabel;
- this.searchActive = false;
- this.lastSearchValue = ''
- this.lastResultsPage = '';
- }
- }
-}
-
-// -----------------------------------------------------------------------
-
-// The class that handles everything on the search results page.
-function SearchResults(name)
-{
- // The number of matches from the last run of .
- this.lastMatchCount = 0;
- this.lastKey = 0;
- this.repeatOn = false;
-
- // Toggles the visibility of the passed element ID.
- this.FindChildElement = function(id)
- {
- var parentElement = document.getElementById(id);
- var element = parentElement.firstChild;
-
- while (element && element!=parentElement)
- {
- if (element.nodeName == 'DIV' && element.className == 'SRChildren')
- {
- return element;
- }
-
- if (element.nodeName == 'DIV' && element.hasChildNodes())
- {
- element = element.firstChild;
- }
- else if (element.nextSibling)
- {
- element = element.nextSibling;
- }
- else
- {
- do
- {
- element = element.parentNode;
- }
- while (element && element!=parentElement && !element.nextSibling);
-
- if (element && element!=parentElement)
- {
- element = element.nextSibling;
- }
- }
- }
- }
-
- this.Toggle = function(id)
- {
- var element = this.FindChildElement(id);
- if (element)
- {
- if (element.style.display == 'block')
- {
- element.style.display = 'none';
- }
- else
- {
- element.style.display = 'block';
- }
- }
- }
-
- // Searches for the passed string. If there is no parameter,
- // it takes it from the URL query.
- //
- // Always returns true, since other documents may try to call it
- // and that may or may not be possible.
- this.Search = function(search)
- {
- if (!search) // get search word from URL
- {
- search = window.location.search;
- search = search.substring(1); // Remove the leading '?'
- search = unescape(search);
- }
-
- search = search.replace(/^ +/, ""); // strip leading spaces
- search = search.replace(/ +$/, ""); // strip trailing spaces
- search = search.toLowerCase();
- search = convertToId(search);
-
- var resultRows = document.getElementsByTagName("div");
- var matches = 0;
-
- var i = 0;
- while (i < resultRows.length)
- {
- var row = resultRows.item(i);
- if (row.className == "SRResult")
- {
- var rowMatchName = row.id.toLowerCase();
- rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
-
- if (search.length<=rowMatchName.length &&
- rowMatchName.substr(0, search.length)==search)
- {
- row.style.display = 'block';
- matches++;
- }
- else
- {
- row.style.display = 'none';
- }
- }
- i++;
- }
- document.getElementById("Searching").style.display='none';
- if (matches == 0) // no results
- {
- document.getElementById("NoMatches").style.display='block';
- }
- else // at least one result
- {
- document.getElementById("NoMatches").style.display='none';
- }
- this.lastMatchCount = matches;
- return true;
- }
-
- // return the first item with index index or higher that is visible
- this.NavNext = function(index)
- {
- var focusItem;
- while (1)
- {
- var focusName = 'Item'+index;
- focusItem = document.getElementById(focusName);
- if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
- {
- break;
- }
- else if (!focusItem) // last element
- {
- break;
- }
- focusItem=null;
- index++;
- }
- return focusItem;
- }
-
- this.NavPrev = function(index)
- {
- var focusItem;
- while (1)
- {
- var focusName = 'Item'+index;
- focusItem = document.getElementById(focusName);
- if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
- {
- break;
- }
- else if (!focusItem) // last element
- {
- break;
- }
- focusItem=null;
- index--;
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- {
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- if (e.keyCode==13) return true;
- if (!this.ProcessKeys(e)) return false;
-
- if (this.lastKey==38) // Up
- {
- if (childIndex>0)
- {
- var newIndex = childIndex-1;
- document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
- }
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- {
- document.getElementById('Item'+itemIndex).focus();
- }
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- else if (this.lastKey==40) // Down
- {
- var newIndex = childIndex+1;
- var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
- if (!elem) // last child, jump to parent next parent
- {
- elem = this.NavNext(itemIndex+1);
- }
- if (elem)
- {
- elem.focus();
- }
- }
- else if (this.lastKey==27) // Escape
- {
- parent.searchBox.CloseResultsWindow();
- parent.document.getElementById("MSearchField").focus();
- }
- else if (this.lastKey==13) // Enter
- {
- return true;
- }
- return false;
- }
-}
-
-function setKeyActions(elem,action)
-{
- elem.setAttribute('onkeydown',action);
- elem.setAttribute('onkeypress',action);
- elem.setAttribute('onkeyup',action);
-}
-
-function setClassAttr(elem,attr)
-{
- elem.setAttribute('class',attr);
- elem.setAttribute('className',attr);
-}
-
-function createResults()
-{
- var results = document.getElementById("SRResults");
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diff --git a/docs/index.rst b/docs/index.rst
deleted file mode 100644
index 2f830f97..00000000
--- a/docs/index.rst
+++ /dev/null
@@ -1,94 +0,0 @@
-.. image:: assets/f1_stickers_01.png
- :width: 60
- :align: left
-
-F1TENTH Gym Documentation
-================================================
-
-Overview
----------
-The F1TENTH Gym environment is created for research that needs a asynchronous, realistic vehicle simulation with multiple vehicle instances in the same environment, with applications in reinforcement learning.
-
-The environment is designed with determinism in mind. All agents' physics simulation are stepped simultaneously, and all randomness are seeded and experiments can be reproduced. The explicit stepping also enables the physics engine to take advantage of faster than real-time execution (up to 30x realtime) and enable massively parallel applications.
-
-Github repo: https://github.com/f1tenth/f1tenth_gym
-
-Note that the GitHub will have more up to date documentation than this page. If you see a mistake, please contribute a fix!
-
-Example Usecases
-------------------
-
-1. The gym environment is used as the backend for the F1TENTH virtual racing online competition at IROS 2020:
-
-.. raw:: html
-
- VIDEO
-
-
-2. The gym environment is used as the simulation engine for the FormulaZero project: https://github.com/travelbureau/f0_icml_code
-
-.. raw:: html
-
- VIDEO
-
-3. The gym environment is used as the simulation engine for the TunerCar project: http://www.lewissoft.com/pdf/ICRA2020/1667.pdf
-
-.. raw:: html
-
- VIDEO
-
-Citing
---------
-If you find this Gym environment useful, please consider citing:
-
-.. code::
-
- @inproceedings{o2020textscf1tenth,
- title={textscF1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
- author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
- booktitle={NeurIPS 2019 Competition and Demonstration Track},
- pages={77--89},
- year={2020},
- organization={PMLR}
- }
-
-Physical Platform
--------------------
-
-To build a physical 1/10th scale vehicle, following the guide here: https://f1tenth.org/build.html
-
-.. image:: assets/f110cover.png
- :width: 400
- :align: center
-
-.. toctree::
- :caption: INSTALLATION
- :maxdepth: 2
-
- installation
-
-
-.. toctree::
- :caption: USAGE
- :maxdepth: 2
-
- basic_usage
- customized_usage
-
-.. toctree::
- :caption: REPRODUCIBILITY
- :maxdepth: 2
-
- reproduce
-
-.. toctree::
- :caption: API REFERENCE
- :maxdepth: 2
-
- api/base_classes
- api/dynamic_models
- api/laser_models
- api/collision_models
- api/env
- api/obv
- api/rendering
diff --git a/docs/installation.rst b/docs/installation.rst
deleted file mode 100644
index 19a30729..00000000
--- a/docs/installation.rst
+++ /dev/null
@@ -1,42 +0,0 @@
-.. raw:: html
-
-
-
-Installation
-=================
-``f1tenth_gym`` is a pure Python library. We provide two ways to set up the environment.
-
-.. image:: assets/docker_logo.png
-
-Using docker
-----------------
-
-A Dockerfile is provided. A container can be created by running the following commands. Note that ``sudo`` might be needed depending on how you've set up your Docker engine.
-
-.. code:: bash
-
- $ git clone https://github.com/f1tenth/f1tenth_gym.git
- $ cd f1tenth_gym
- $ git checkout exp_py
- $ docker build -t f1tenth_gym -f Dockerfile .
- $ docker run -it --name=f1tenth_gym_container --rm f1tenth_gym
-
-.. image:: assets/pip_logo.svg
-
-Using pip
----------------
-
-The environment is a Python package, and only depends on ``numpy``, ``scipy``, ``numba``, ``Pillow``, ``gym``, ``pyyaml``, and ``pyglet``. You can install the package via pip:
-
-.. code:: bash
-
- $ pip3 install git+https://github.com/f1tenth/f1tenth_gym.git
diff --git a/docs/reproduce.rst b/docs/reproduce.rst
deleted file mode 100644
index 2d70229e..00000000
--- a/docs/reproduce.rst
+++ /dev/null
@@ -1,6 +0,0 @@
-.. _reproduce:
-
-Reproducing experiments when using the environment
-====================================================
-
-COMING SOON...
\ No newline at end of file
diff --git a/docs/requirements.txt b/docs/requirements.txt
index 188f51e6..6e74afc2 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1 +1,5 @@
-breathe
\ No newline at end of file
+sphinx==7.2.6
+numpydoc==1.6.0
+pydata-sphinx-theme==0.15.2
+sphinx-design==0.5.0
+sphinx-copybutton==0.5.2
\ No newline at end of file
diff --git a/docs/src/_static/switcher.json b/docs/src/_static/switcher.json
new file mode 100644
index 00000000..2ef6c237
--- /dev/null
+++ b/docs/src/_static/switcher.json
@@ -0,0 +1,18 @@
+[
+ {
+ "version": "latest",
+ "url": "https://f1tenth-gym.readthedocs.io/en/latest/"
+ },
+ {
+ "version": "stable",
+ "url": "https://f1tenth-gym.readthedocs.io/en/stable/"
+ },
+ {
+ "version": "v1.0.0",
+ "url": "https://f1tenth-gym.readthedocs.io/en/v1.0.0/"
+ },
+ {
+ "version": "dev_docs",
+ "url": "https://f1tenth-gym.readthedocs.io/en/dev_docs/"
+ }
+]
\ No newline at end of file
diff --git a/docs/src/_templates/autosummary/attributes.rst b/docs/src/_templates/autosummary/attributes.rst
new file mode 100644
index 00000000..f00f0a66
--- /dev/null
+++ b/docs/src/_templates/autosummary/attributes.rst
@@ -0,0 +1,13 @@
+:orphan:
+
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+attribute
+
+.. auto{{ objtype }}:: {{ fullname | replace("f110_gym.envs.", "f110_gym.envs::") }}
+
+{# In the fullname (e.g. `numpy.ma.MaskedArray.methodname`), the module name
+is ambiguous. Using a `::` separator (e.g. `numpy::ma.MaskedArray.methodname`)
+specifies `numpy` as the module name. #}
\ No newline at end of file
diff --git a/docs/src/_templates/autosummary/base.rst b/docs/src/_templates/autosummary/base.rst
new file mode 100644
index 00000000..655bddc5
--- /dev/null
+++ b/docs/src/_templates/autosummary/base.rst
@@ -0,0 +1,17 @@
+{% if objtype == 'property' %}
+:orphan:
+{% endif %}
+
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+{% if objtype == 'property' %}
+property
+{% endif %}
+
+.. auto{{ objtype }}:: {{ fullname | replace("f110_gym.envs.", "f110_gym.envs::") }}
+
+{# In the fullname (e.g. `numpy.ma.MaskedArray.methodname`), the module name
+is ambiguous. Using a `::` separator (e.g. `numpy::ma.MaskedArray.methodname`)
+specifies `numpy` as the module name. #}
\ No newline at end of file
diff --git a/docs/src/_templates/autosummary/class.rst b/docs/src/_templates/autosummary/class.rst
new file mode 100644
index 00000000..7786c11e
--- /dev/null
+++ b/docs/src/_templates/autosummary/class.rst
@@ -0,0 +1,17 @@
+{% extends "!autosummary/class.rst" %}
+
+{% block methods %} {% if methods %}
+
+ .. autosummary::
+ :toctree: generated/
+ {% for item in methods %}
+ {% if item != '__init__'%}
+ ~{{ name }}.{{ item }}
+ {% endif %}
+ {%- endfor %}
+
+{% endif %} {% endblock %}
+
+{% block attributes %} {% if attributes %}
+
+{% endif %} {% endblock %}
\ No newline at end of file
diff --git a/docs/src/_templates/autosummary/member.rst b/docs/src/_templates/autosummary/member.rst
new file mode 100644
index 00000000..9d82946f
--- /dev/null
+++ b/docs/src/_templates/autosummary/member.rst
@@ -0,0 +1,13 @@
+:orphan:
+
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+member
+
+.. auto{{ objtype }}:: {{ fullname | replace("f110_gym.envs.", "f110_gym.envs::") }}
+
+{# In the fullname (e.g. `numpy.ma.MaskedArray.methodname`), the module name
+is ambiguous. Using a `::` separator (e.g. `numpy::ma.MaskedArray.methodname`)
+specifies `numpy` as the module name. #}
\ No newline at end of file
diff --git a/docs/src/_templates/autosummary/method.rst b/docs/src/_templates/autosummary/method.rst
new file mode 100644
index 00000000..2909b838
--- /dev/null
+++ b/docs/src/_templates/autosummary/method.rst
@@ -0,0 +1,13 @@
+:orphan:
+
+{{ fullname | escape | underline}}
+
+.. currentmodule:: {{ module }}
+
+method
+
+.. auto{{ objtype }}:: {{ fullname | replace("f110_gym.envs.", "f110_gym.envs::") }}
+
+{# In the fullname (e.g. `numpy.ma.MaskedArray.methodname`), the module name
+is ambiguous. Using a `::` separator (e.g. `numpy::ma.MaskedArray.methodname`)
+specifies `numpy` as the module name. #}
\ No newline at end of file
diff --git a/docs/src/_templates/autosummary/minimal_module.rst b/docs/src/_templates/autosummary/minimal_module.rst
new file mode 100644
index 00000000..671187ce
--- /dev/null
+++ b/docs/src/_templates/autosummary/minimal_module.rst
@@ -0,0 +1,6 @@
+{{ fullname | escape | underline}}
+
+.. automodule:: {{ fullname }}
+
+ {% block docstring %}
+ {% endblock %}
\ No newline at end of file
diff --git a/docs/src/_templates/autosummary/module.rst b/docs/src/_templates/autosummary/module.rst
new file mode 100644
index 00000000..ecfcbf41
--- /dev/null
+++ b/docs/src/_templates/autosummary/module.rst
@@ -0,0 +1,40 @@
+{% extends "!autosummary/module.rst" %}
+
+{# This file is almost the same as the default, but adds :toctree: to the autosummary directives.
+ The original can be found at `sphinx/ext/autosummary/templates/autosummary/module.rst`. #}
+
+{% block attributes %}
+{% if attributes %}
+ .. rubric:: Module Attributes
+
+ .. autosummary::
+ :toctree:
+ {% for item in attributes %}
+ {{ item }}
+ {%- endfor %}
+{% endif %}
+{% endblock %}
+
+{% block functions %}
+{% if functions %}
+ .. rubric:: Functions
+
+ .. autosummary::
+ :toctree:
+ {% for item in functions %}
+ {{ item }}
+ {%- endfor %}
+{% endif %}
+{% endblock %}
+
+{% block classes %}
+{% if classes %}
+ .. rubric:: Classes
+
+ .. autosummary::
+ :toctree:
+ {% for item in classes %}
+ {{ item }}
+ {%- endfor %}
+{% endif %}
+{% endblock %}
\ No newline at end of file
diff --git a/docs/src/api/action.rst b/docs/src/api/action.rst
new file mode 100644
index 00000000..4f6238d1
--- /dev/null
+++ b/docs/src/api/action.rst
@@ -0,0 +1,21 @@
+Control Actions
+================
+
+Enums specifying different control input action types.
+
+.. currentmodule:: f110_gym.envs.action
+
+.. autosummary::
+ :toctree: _generated/
+
+ LongitudinalActionEnum
+ LongitudinalAction
+ AcclAction
+ SpeedAction
+ SteerActionEnum
+ SteerAction
+ SteeringAngleAction
+ SteeringSpeedAction
+ CarAction
+ from_single_to_multi_action_space
+
\ No newline at end of file
diff --git a/docs/api/base_classes.rst b/docs/src/api/base_classes.rst
similarity index 73%
rename from docs/api/base_classes.rst
rename to docs/src/api/base_classes.rst
index d3a555bc..ba20d060 100644
--- a/docs/api/base_classes.rst
+++ b/docs/src/api/base_classes.rst
@@ -7,5 +7,11 @@ The ``RaceCar`` class handles the simulation of the dynamics model and the gener
The ``Simulator`` class handles the interaction between agents including collision checking.
-.. doxygenfile:: base_classes.py
- :project: f1tenth_gym
\ No newline at end of file
+.. currentmodule:: f110_gym.envs.base_classes
+
+.. autosummary::
+ :toctree: _generated/
+
+ RaceCar
+ Simulator
+
\ No newline at end of file
diff --git a/docs/api/collision_models.rst b/docs/src/api/collision_models.rst
similarity index 56%
rename from docs/api/collision_models.rst
rename to docs/src/api/collision_models.rst
index d7875976..7d2d67b5 100644
--- a/docs/api/collision_models.rst
+++ b/docs/src/api/collision_models.rst
@@ -3,5 +3,17 @@ Collision Models
This file contains all the numba just-in-time compiled functions for collision checking between agents. The GJK algorithm (more detail here: https://cse442-17f.github.io/Gilbert-Johnson-Keerthi-Distance-Algorithm/) is used to check for overlap in polygons.
-.. doxygenfile:: collision_models.py
- :project: f1tenth_gym
\ No newline at end of file
+.. currentmodule:: f110_gym.envs.collision_models
+
+.. autosummary::
+ :toctree: _generated/
+
+ perpendicular
+ tripleProduct
+ avgPoint
+ indexOfFurthestPoint
+ support
+ collision
+ collision_multiple
+ get_trmtx
+ get_vertices
\ No newline at end of file
diff --git a/docs/src/api/dynamic_models.rst b/docs/src/api/dynamic_models.rst
new file mode 100644
index 00000000..2930bcc6
--- /dev/null
+++ b/docs/src/api/dynamic_models.rst
@@ -0,0 +1,18 @@
+Dynamic Models
+========================================
+
+This file contains all numba just-in-time compiled function for the dynamic models.
+
+.. currentmodule:: f110_gym.envs.dynamic_models
+
+.. autosummary::
+ :toctree: _generated/
+
+ DynamicModel
+ upper_accel_limit
+ accl_constraints
+ steering_constraint
+ vehicle_dynamics_ks
+ vehicle_dynamics_st
+ pid_steer
+ pid_accl
\ No newline at end of file
diff --git a/docs/src/api/env.rst b/docs/src/api/env.rst
new file mode 100644
index 00000000..0bdd6c8e
--- /dev/null
+++ b/docs/src/api/env.rst
@@ -0,0 +1,11 @@
+Gym Environment
+========================================
+
+This is the top level file that conforms to the Gymnasium convention.
+
+.. currentmodule:: f110_gym.envs
+
+.. autosummary::
+ :toctree: _generated/
+
+ F110Env
\ No newline at end of file
diff --git a/docs/src/api/index.rst b/docs/src/api/index.rst
new file mode 100644
index 00000000..b284e7ba
--- /dev/null
+++ b/docs/src/api/index.rst
@@ -0,0 +1,19 @@
+API Overview
+==============
+
+.. toctree::
+ :caption: API
+ :maxdepth: 2
+
+ env
+ base_classes
+ action
+ dynamic_models
+ integrators
+ laser_models
+ collision_models
+ obv
+ rendering
+ track
+ reset
+ utils
\ No newline at end of file
diff --git a/docs/src/api/integrators.rst b/docs/src/api/integrators.rst
new file mode 100644
index 00000000..018e8987
--- /dev/null
+++ b/docs/src/api/integrators.rst
@@ -0,0 +1,15 @@
+Integrators
+=============
+
+Different integrators used to integrate ODEs of the dynamics.
+
+.. currentmodule:: f110_gym.envs.integrator
+
+.. autosummary::
+ :toctree: _generated/
+
+ IntegratorType
+ Integrator
+ RK4Integrator
+ EulerIntegrator
+
\ No newline at end of file
diff --git a/docs/api/laser_models.rst b/docs/src/api/laser_models.rst
similarity index 63%
rename from docs/api/laser_models.rst
rename to docs/src/api/laser_models.rst
index 93e14b6c..4dcab568 100644
--- a/docs/api/laser_models.rst
+++ b/docs/src/api/laser_models.rst
@@ -3,5 +3,21 @@ Laser Scan Simulator Models
This file contains all numba just-in-time compiled function for the 2D laser scan models. The core of the laser scan simulation is the Euclidean distance transform of the map image provided. See more details about the algorithm here: https://docs.scipy.org/doc/scipy/reference/generated/scipy.ndimage.distance_transform_edt.html#scipy.ndimage.distance_transform_edt. Then, ray tracing is used to create the beams of the 2D lasers scan.
-.. doxygenfile:: laser_models.py
- :project: f1tenth_gym
\ No newline at end of file
+.. currentmodule:: f110_gym.envs.laser_models
+
+.. autosummary::
+ :toctree: _generated/
+
+ ScanSimulator2D
+ get_dt
+ xy_2_rc
+ distance_transform
+ trace_ray
+ get_scan
+ check_ttc_jit
+ cross
+ are_collinear
+ get_range
+ get_blocked_view_indices
+ ray_cast
+
\ No newline at end of file
diff --git a/docs/src/api/obv.rst b/docs/src/api/obv.rst
new file mode 100644
index 00000000..982a44a8
--- /dev/null
+++ b/docs/src/api/obv.rst
@@ -0,0 +1,14 @@
+Observations
+=============
+
+Observation types and factory for gymnasium env.
+
+.. currentmodule:: f110_gym.envs.observation
+
+.. autosummary::
+ :toctree: _generated/
+
+ Observation
+ OriginalObservation
+ FeaturesObservation
+ observation_factory
\ No newline at end of file
diff --git a/docs/src/api/rendering.rst b/docs/src/api/rendering.rst
new file mode 100644
index 00000000..3e75f04c
--- /dev/null
+++ b/docs/src/api/rendering.rst
@@ -0,0 +1,16 @@
+Rendering Engine
+========================================
+
+This is the rendering engine using pygame to visualize the running environment.
+
+.. currentmodule:: f110_gym.envs.rendering
+
+.. autosummary::
+ :toctree: _generated/
+
+ objects.TextObject
+ objects.Map
+ objects.Car
+ renderer.RenderSpec
+ renderer.EnvRenderer
+ rendering_pygame.PygameEnvRenderer
diff --git a/docs/src/api/reset.rst b/docs/src/api/reset.rst
new file mode 100644
index 00000000..99a314d3
--- /dev/null
+++ b/docs/src/api/reset.rst
@@ -0,0 +1,15 @@
+Reset Function
+========================================
+
+This is utilities for specifying different types of reset functions.
+
+.. currentmodule:: f110_gym.envs.reset
+
+.. autosummary::
+ :toctree: _generated/
+
+ reset_fn.ResetFn
+ masked_reset.MaskedResetFn
+ masked_reset.GridResetFn
+ masked_reset.AllTrackResetFn
+ utils.sample_around_waypoint
\ No newline at end of file
diff --git a/docs/src/api/track.rst b/docs/src/api/track.rst
new file mode 100644
index 00000000..087e5206
--- /dev/null
+++ b/docs/src/api/track.rst
@@ -0,0 +1,16 @@
+Race Tracks
+========================================
+
+This is the utilities for specifying a track.
+
+.. currentmodule:: f110_gym.envs.track
+
+.. autosummary::
+ :toctree: _generated/
+
+ cubic_spline.CubicSpline1D
+ cubic_spline.CubicSpline2D
+ raceline.Raceline
+ track.TrackSpec
+ track.Track
+ utils.find_track_dir
diff --git a/docs/src/api/utils.rst b/docs/src/api/utils.rst
new file mode 100644
index 00000000..602a5f17
--- /dev/null
+++ b/docs/src/api/utils.rst
@@ -0,0 +1,11 @@
+Utils
+=============
+
+Misc. utils.
+
+.. currentmodule:: f110_gym.envs.utils
+
+.. autosummary::
+ :toctree: _generated/
+
+ deep_update
\ No newline at end of file
diff --git a/docs/assets/docker_logo.png b/docs/src/assets/docker_logo.png
similarity index 100%
rename from docs/assets/docker_logo.png
rename to docs/src/assets/docker_logo.png
diff --git a/docs/assets/f110cover.png b/docs/src/assets/f110cover.png
similarity index 100%
rename from docs/assets/f110cover.png
rename to docs/src/assets/f110cover.png
diff --git a/docs/assets/f1_stickers_01.png b/docs/src/assets/f1_stickers_01.png
similarity index 100%
rename from docs/assets/f1_stickers_01.png
rename to docs/src/assets/f1_stickers_01.png
diff --git a/docs/assets/f1_stickers_02.png b/docs/src/assets/f1_stickers_02.png
similarity index 100%
rename from docs/assets/f1_stickers_02.png
rename to docs/src/assets/f1_stickers_02.png
diff --git a/docs/assets/f1tenth_gym.svg b/docs/src/assets/f1tenth_gym.svg
similarity index 100%
rename from docs/assets/f1tenth_gym.svg
rename to docs/src/assets/f1tenth_gym.svg
diff --git a/docs/assets/f1tenth_gym_color.svg b/docs/src/assets/f1tenth_gym_color.svg
similarity index 100%
rename from docs/assets/f1tenth_gym_color.svg
rename to docs/src/assets/f1tenth_gym_color.svg
diff --git a/docs/assets/gym.svg b/docs/src/assets/gym.svg
similarity index 100%
rename from docs/assets/gym.svg
rename to docs/src/assets/gym.svg
diff --git a/docs/assets/pip_logo.svg b/docs/src/assets/pip_logo.svg
similarity index 100%
rename from docs/assets/pip_logo.svg
rename to docs/src/assets/pip_logo.svg
diff --git a/docs/src/assets/random_trackgen.png b/docs/src/assets/random_trackgen.png
new file mode 100644
index 00000000..0a89d70d
Binary files /dev/null and b/docs/src/assets/random_trackgen.png differ
diff --git a/docs/src/conf.py b/docs/src/conf.py
new file mode 100644
index 00000000..77d484e4
--- /dev/null
+++ b/docs/src/conf.py
@@ -0,0 +1,70 @@
+# flake8: noqa
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath("../../"))
+
+# -- Project information -----------------------------------------------------
+
+project = "f1tenth_gym"
+copyright = "2023, Hongrui Zheng, Matthew O'Kelly, Aman Sinha, Joseph Auckley, Luigi Berducci, Renukanandan Tumu, Ahmad Amine"
+author = "Hongrui Zheng, Matthew O'Kelly, Aman Sinha, Joseph Auckley, Luigi Berducci, Renukanandan Tumu, Ahmad Amine"
+
+# The full version, including alpha/beta/rc tags
+release = "1.0.0"
+version = "1.0.0"
+
+
+# -- General configuration ---------------------------------------------------
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+ "sphinx.ext.autodoc",
+ "numpydoc",
+ "sphinx_copybutton",
+ "sphinx_design",
+ "sphinx.ext.doctest",
+ "sphinx.ext.autosummary",
+ "sphinx.ext.coverage",
+ "sphinx.ext.viewcode",
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ["_templates"]
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
+
+master_doc = "index"
+
+# -- coverate test configuration -----------------------------------------------
+coverage_show_missing_items = True
+
+# -- numpydoc -----------------------------------------------------------------
+numpydoc_show_class_members = False
+
+# -- Theme -------------------------------------------------------------------
+html_theme = "pydata_sphinx_theme"
+html_favicon = "assets/f1_stickers_02.png"
+html_theme_options = {
+ "logo": {
+ "image_light": "assets/f1tenth_gym_color.svg",
+ "image_dark": "assets/f1tenth_gym.svg",
+ },
+ "github_url": "https://github.com/f1tenth/f1tenth_gym",
+ "collapse_navigation": True,
+ "header_links_before_dropdown": 6,
+ # Add light/dark mode and documentation version switcher:
+ "navbar_end": ["theme-switcher", "navbar-icon-links"],
+}
+# html_sidebars = {
+# "**": ["search-field.html", "sidebar-nav-bs.html", "sidebar-ethical-ads.html"]
+# }
+html_last_updated_fmt = "%b %d, %Y"
+html_show_sourcelink = True
+
+copybutton_prompt_text = ">>> "
\ No newline at end of file
diff --git a/docs/src/index.rst b/docs/src/index.rst
new file mode 100644
index 00000000..2175f8db
--- /dev/null
+++ b/docs/src/index.rst
@@ -0,0 +1,121 @@
+F1TENTH Gym Documentation
+================================================
+
+Overview
+---------
+The F1TENTH Gym environment is created for research that needs a asynchronous, realistic vehicle simulation with multiple vehicle instances in the same environment, with applications in reinforcement learning.
+
+The environment is designed with determinism in mind. All agents' physics simulation are stepped simultaneously, and all randomness are seeded and experiments can be reproduced. The explicit stepping also enables the physics engine to take advantage of faster than real-time execution (up to 30x realtime) and enable massively parallel applications.
+
+Github repo: https://github.com/f1tenth/f1tenth_gym
+
+Note that the GitHub will have more up to date documentation than this page. If you see a mistake, please contribute a fix!
+
+
+.. grid:: 2
+ :gutter: 4
+
+ .. grid-item-card::
+
+ Physical Platform
+ ^^^^^^^^^^^^^^^^^
+
+ To build a physical 1/10th scale vehicle, follow the official build guide.
+
+ .. image:: assets/f110cover.png
+ :width: 100
+ :align: center
+
+ +++
+
+ .. button-link:: https://f1tenth.org/build.html
+ :expand:
+ :color: secondary
+ :click-parent:
+
+ Build Guide
+
+
+ .. grid-item-card::
+
+ Installation
+ ^^^^^^^^^^^^
+
+ Installation guide
+
+ .. image:: assets/pip_logo.svg
+ :width: 100
+ :align: center
+
+ +++
+
+ .. button-ref:: install/installation
+ :expand:
+ :color: secondary
+ :click-parent:
+
+ Installation
+
+ .. grid-item-card::
+
+ Quick Start
+ ^^^^^^^^^^^
+
+ Example usage
+
+ .. image:: assets/gym.svg
+ :width: 100
+ :align: center
+
+ +++
+
+ .. button-ref:: usage/index
+ :expand:
+ :color: secondary
+ :click-parent:
+
+ Quick Start
+
+ .. grid-item-card::
+
+ API
+ ^^^
+
+ API
+
+ .. image:: assets/gym.svg
+ :width: 100
+ :align: center
+
+ +++
+
+ .. button-ref:: api/index
+ :expand:
+ :color: secondary
+ :click-parent:
+
+ API
+
+Citing
+--------
+If you find this Gym environment useful, please consider citing:
+
+.. code::
+
+ @inproceedings{o2020f1tenth,
+ title={textscF1TENTH: An Open-source Evaluation Environment for Continuous Control and Reinforcement Learning},
+ author={O’Kelly, Matthew and Zheng, Hongrui and Karthik, Dhruv and Mangharam, Rahul},
+ booktitle={NeurIPS 2019 Competition and Demonstration Track},
+ pages={77--89},
+ year={2020},
+ organization={PMLR}
+ }
+
+.. toctree::
+ :hidden:
+ :maxdepth: 3
+ :titlesonly:
+
+ install/installation
+ usage/index
+ api/index
\ No newline at end of file
diff --git a/docs/src/install/installation.rst b/docs/src/install/installation.rst
new file mode 100644
index 00000000..ae453a54
--- /dev/null
+++ b/docs/src/install/installation.rst
@@ -0,0 +1,38 @@
+Installation
+=================
+``f1tenth_gym`` is a pure Python library and can be installed with ``pip``.
+
+
+PyPI
+------
+
+Coming Soon...
+
+
+Install for Developement
+----------------------------
+
+We suggest using a ``virtualenv``. Note that ``python3.9+`` is required. You can install the package via pip:
+
+.. code:: bash
+
+ pip install -e git+https://github.com/f1tenth/f1tenth_gym.git@v1.0.0#egg=f1tenth_gym
+
+
+Building Documentation
+------------------------
+
+The documentations can be build locally. Install the extra dependencies via pip:
+
+.. code:: bash
+
+ cd f1tenth_gym/docs
+ pip install -r requirements.txt
+
+Then you can build the documentations in the ``docs/`` directory via:
+
+.. code:: bash
+
+ make html
+
+The static HTML pages can be found at ``docs/_build/html/index.html`` afterwards.
\ No newline at end of file
diff --git a/docs/src/usage/actions.rst b/docs/src/usage/actions.rst
new file mode 100644
index 00000000..b43eb27d
--- /dev/null
+++ b/docs/src/usage/actions.rst
@@ -0,0 +1,49 @@
+.. _actions:
+
+Actions
+=====================
+
+Several **types of actions** for longitudinal and lateral control are available in every track.
+
+Lateral actions:
+
+- `steering_angle`: the action sets the target steering angle of the vehicle in `rad`, which is then converted to steering speed.
+
+- `steering_speed`: the action directly sets the steering speed of the vehicle in `rad/s`.
+
+Longitudinal actions:
+
+- `speed`: the action sets the target speed of the vehicle in `m/s`, which is then converted to acceleration.
+
+- `accl`: the action directly sets the vehicle acceleration in `m/s^2`.
+
+**Note:** All the agents will have the same observation type.
+
+Actions Configuration
+---------------------
+The environment comes with a *default* action type, which can be changed using the environment configuration.
+
+Actions can be configured at the environment creation:
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make(
+ "f110_gym:f110-v0",
+ config={
+ "control_input": ["accl", "steering_speed"]
+ })
+ obs, infos = env.reset()
+
+or after the environment creation:
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make("f110_gym:f110-v0")
+ env.configure({
+ "control_input": ["speed", "steering_angle"]
+ })
+ obs, infos = env.reset()
\ No newline at end of file
diff --git a/docs/src/usage/basic_usage.rst b/docs/src/usage/basic_usage.rst
new file mode 100644
index 00000000..448bf8ec
--- /dev/null
+++ b/docs/src/usage/basic_usage.rst
@@ -0,0 +1,70 @@
+.. _basic_usage:
+
+Basic example
+=====================
+
+The environment can work out of the box without too much customization.
+
+A gym env could be instantiated without any extra arguments using the ``gym.make()`` function.
+By default, it spawns two agents in the Spielberg racetrack.
+
+The simulation can be reset by calling the ``reset()`` method
+and step forward in time by calling the ``step()`` method with a joint action for all agents.
+
+A working example can be found in ``examples/waypoint_follow.py``.
+
+
+Usage
+-----
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make("f110_gym:f110-v0", render_mode="human")
+ obs, infos = env.reset()
+
+ while not done:
+ # sample random action
+ actions = env.action_space.sample()
+ # step simulation
+ obs, step_reward, done, info = racecar_env.step(actions)
+ env.render()
+
+Default configuration
+---------------------
+
+.. code:: python
+
+ {
+ "seed": 12345,
+ "map": "Spielberg",
+ "params": {
+ "mu": 1.0489,
+ "C_Sf": 4.718,
+ "C_Sr": 5.4562,
+ "lf": 0.15875,
+ "lr": 0.17145,
+ "h": 0.074,
+ "m": 3.74,
+ "I": 0.04712,
+ "s_min": -0.4189,
+ "s_max": 0.4189,
+ "sv_min": -3.2,
+ "sv_max": 3.2,
+ "v_switch": 7.319,
+ "a_max": 9.51,
+ "v_min": -5.0,
+ "v_max": 20.0,
+ "width": 0.31,
+ "length": 0.58,
+ },
+ "num_agents": 2,
+ "timestep": 0.01,
+ "ego_idx": 0,
+ "integrator": "rk4",
+ "model": "st",
+ "control_input": ["speed", "steering_angle"],
+ "observation_config": {"type": None},
+ "reset_config": {"type": None},
+ }
diff --git a/docs/src/usage/customized_usage.rst b/docs/src/usage/customized_usage.rst
new file mode 100644
index 00000000..4b4e2432
--- /dev/null
+++ b/docs/src/usage/customized_usage.rst
@@ -0,0 +1,40 @@
+.. _custom_usage:
+
+Customized Usage Example
+==========================
+
+For a basic usage example, see :ref:`basic_usage`.
+
+The environment also provides options for customization.
+
+Random Track Generator
+-----------------------
+
+The script `examples/random_trackgen.py` allows to generate random tracks.
+
+To use it, the following dependencies are required:
+
+::
+
+ pip install cv2
+ pip install numpy
+ pip install shapely
+ pip install matplotlib
+
+
+The script can be run by specifying `seed`, number of maps to generate `n_maps` and the output directory `output_dir`.
+
+For example, to generate 3 random maps and store them in the directory `custom_maps`:
+
+::
+
+ python examples/random_trackgen.py --seed 42 --n-maps 3 --outdir custom_maps
+
+
+.. image:: /assets/random_trackgen.png
+ :width: 800
+ :align: center
+
+Custom Map
+------------
+Work in progress on how to add a custom map.
\ No newline at end of file
diff --git a/docs/src/usage/dynamics.rst b/docs/src/usage/dynamics.rst
new file mode 100644
index 00000000..2ab1fdb4
--- /dev/null
+++ b/docs/src/usage/dynamics.rst
@@ -0,0 +1,52 @@
+.. _dynamics:
+
+Vehicle Dynamics
+=====================
+
+The vehicle dynamics are modeled using a single-track model, as in [AlKM17]_.
+
+We support two vehicle dynamics models:
+
+- Kinematic Single-Track Model (`ks`): Simpler model that considers only the kinematics of the vehicle, i.e., the position, orientation, and velocity, ignoring the forces that act on the vehicle.
+
+- Single-Track Model (`st`): More complex model that considers the forces that act on the vehicle, such as the tire forces.
+
+Despite the fact that the single-track model is a simplified model, it is able to capture the
+tire slip effects on the slip angle, which is important for accurate simulation at the physical
+limits of the vehicle.
+
+
+Dynamics Configuration
+----------------------
+The environment comes with a *default* dynamics model, which can be changed using the environment configuration.
+
+The dynamics model can be configured at the environment creation:
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make(
+ "f110_gym:f110-v0",
+ config={
+ "model": "ks"
+ })
+ obs, infos = env.reset()
+
+or after the environment creation:
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make("f110_gym:f110-v0")
+ env.configure({
+ "model": "ks",
+ })
+ obs, infos = env.reset()
+
+
+
+.. rubric:: References
+
+.. [AlKM17] Althoff, M.; Koschi, M.; Manzinger, S..: CommonRoad: Composable benchmarks for motion planning on roads. In: 2017 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2017.
\ No newline at end of file
diff --git a/docs/src/usage/index.rst b/docs/src/usage/index.rst
new file mode 100644
index 00000000..745ecc40
--- /dev/null
+++ b/docs/src/usage/index.rst
@@ -0,0 +1,45 @@
+Getting Started
+===============
+
+Making an environment
+---------------------
+
+This is a quick example of how to make a simple environment:
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make("f110_gym:f110-v0", render_mode="human")
+ obs, infos = env.reset()
+
+ while not done:
+ # sample random action
+ actions = env.action_space.sample()
+ # step simulation
+ obs, step_reward, done, info = racecar_env.step(actions)
+ env.render()
+
+Configuration
+-------------
+
+Here is the list of configurable options for the environment:
+- Track
+- Observations
+- Actions
+- Rewards
+- Dynamics
+- Rendering
+- Extra tools
+
+.. toctree::
+ :caption: Getting started
+ :maxdepth: 1
+
+ basic_usage
+ observations
+ actions
+ rewards
+ dynamics
+ customized_usage
+ rendering
\ No newline at end of file
diff --git a/docs/src/usage/observations.rst b/docs/src/usage/observations.rst
new file mode 100644
index 00000000..960022f4
--- /dev/null
+++ b/docs/src/usage/observations.rst
@@ -0,0 +1,48 @@
+.. _observations:
+
+Observations
+=====================
+
+For the environment, several **types of observations** can be used.
+
+- `original` : Original observation from the old simulator. This is default for compatibility.
+- `kinematic_state` : Kinematic state observation, which includes `pose_x, pose_y, delta, linear_vel_x, pose_theta`.
+- `dynamic_state` : Dynamic state observation, which includes `pose_x, pose_y, delta, linear_vel_x, pose_theta, ang_vel_z, beta`.
+- `features` : Customisable observation, which includes all the features defined in the `features` argument.
+
+**Note:** All the agents will have the same observation type.
+
+Observations Configuration
+--------------------------
+Each environment comes with a *default* observation,
+which can be changed or customised using environment configurations.
+
+Observations can be configured at the environment creation:
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make(
+ "f110_gym:f110-v0",
+ config={
+ "observation_config": {
+ "type": "features",
+ "features": ["linear_vel_x", "scan"]
+ },
+ })
+ obs, infos = env.reset()
+
+or after the environment creation:
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make("f110_gym:f110-v0")
+ env.configure({
+ "observation_config": {
+ "type": "features",
+ "features": ["linear_vel_x", "scan"]}
+ })
+ obs, infos = env.reset()
\ No newline at end of file
diff --git a/docs/src/usage/rendering.rst b/docs/src/usage/rendering.rst
new file mode 100644
index 00000000..f8c2f1af
--- /dev/null
+++ b/docs/src/usage/rendering.rst
@@ -0,0 +1,68 @@
+.. _rendering:
+
+Rendering
+=====================
+
+The environment rendering is done with `pygame`.
+
+As by default in gymnasium environments,
+there are multiple rendering modes available:
+
+- `human`: for real-time rendering with `pygame`;
+
+- `rgb_array`: for collecting the current frame as a numpy array;
+
+- `rgb_array_list`: for collecting multiple frames into a list. This is useful to generate smooth videos when using frame-skipping.
+
+Additionally, for fast rendering and debugging, we add:
+
+- `human-fast`: faster-than-real-time rendering. Up to 10x faster based on the host machine.
+
+Rendering Configuration
+------------------------
+
+The user can customize the rendering mode with the `rendering_mode` parameter in the environment configuration.
+
+.. code:: python
+
+ import gymnasium as gym
+
+ env = gym.make(
+ "f110_gym:f110-v0",
+ render_mode="human-fast",
+ )
+ obs, infos = env.reset()
+ done = False
+
+ while not done:
+ action = env.action_space.sample()
+ obs, reward, done, infos = env.step(action)
+ env.render()
+
+
+.. note::
+ When rendering in `human` mode,
+ the user can interact to change the agent to focus on by pressing the left/right/middle mouse button,
+ as described by the instructions diplayed in the top of the window.
+
+Parameter Configuration
+-----------------------
+
+The user can customize the rendering parameters in the `f1tenth_gym.rendering/rendering.yaml` file:
+
+- `window_size`: width and height of the window in pixels
+
+- `focus_on`: agent id to focus on (e.g., `agent_0`) or `null` for map view
+
+- `zoom_in_factor`: zoom in factor. 1.0 is no zoom, >1.0 is zoom in, <1.0 is zoom out
+
+- `show_wheels`: it toggles the visualization of the vehicle wheels
+
+- `car_tickness`: thickness of the car border
+
+- `show_info`: it toggles the visualization of the instruction text
+
+- `vehicle_palette`: cyclic list of colors for the vehicles (e.g., first agent takes the first color, second agent takes the second color, etc. and then it starts again from the first color)
+
+
+
diff --git a/docs/src/usage/rewards.rst b/docs/src/usage/rewards.rst
new file mode 100644
index 00000000..72822275
--- /dev/null
+++ b/docs/src/usage/rewards.rst
@@ -0,0 +1,83 @@
+.. _rewards:
+
+Rewards
+=====================
+
+We define a simple reward to encourage the agent to stay alive, giving a reward of `timestep` at each timestep.
+
+.. note::
+ The choice of an appropriate reward is a challenging problem, beyond the scope of this project.
+ To avoid over-specifying every aspect of the expected racing behaviour in the reward
+ (*e.g., safe distance, speed, minimising jerk*),
+ we preferred to specify the simplest reward function possible.
+ This allows the user to experiment with different reward functions based on their specific requirements.
+
+
+Custom Reward Function
+------------------------------
+
+For custom reward functions, we invite the user to use
+`gymnasium.wrappers
-
- __init__.py
- f110_gym
-
-
-
-
-
-from import register( 'f110-v0' , 'f110_gym.envs:F110Env' ,
-
-
diff --git a/docs/xml/base__classes_8py.xml b/docs/xml/base__classes_8py.xml
deleted file mode 100644
index 87973cdf..00000000
--- a/docs/xml/base__classes_8py.xml
+++ /dev/null
@@ -1,510 +0,0 @@
-
-
-
- base_classes.py
- f110_gym::envs::base_classes::RaceCar
- f110_gym::envs::base_classes::Simulator
- f110_gym::envs::base_classes
-
-
-
-
-
-""" Prototype Replacement Author: """ import as from import from [f110_gym.envs.dynamic_models]import from [f110_gym.envs.laser_models]import from [f110_gym.envs.collision_models]import class [RaceCar](object):""" def [__init__](self,""" [params][is_ego]False [time_step][num_beams][fov][state][opp_poses]None [accel][steer_angle_vel][steer_buffer][steer_buffer_size][in_collision]False [ttc_thresh][scan_simulator][ScanSimulator2D](num_beams,[scan_simulator].get_increment()[current_scan][cosines][scan_angles][side_distances]'width' ]/2. 'lf' ]+params[ 'lr' ])/2. for in [scan_angles][i][cosines][i]if if [side_distances][i]else : [side_distances][i]else : if [side_distances][i]else : [side_distances][i]def [update_params](self,""" [params]def [set_map](self,""" [scan_simulator].[set_map](map_path,def [reset](self,""" [accel][steer_angle_vel][in_collision]False [state][state][0:2][state][4]def [ray_cast_agents](self,""" for in [opp_poses]:[params]['length' ],[params][ 'width' ]) [state][0:2],[state][4]),[scan_angles],return def [check_ttc](self):""" [current_scan],[state][3],[scan_angles],[cosines],[side_distances],[ttc_thresh])if [state][3:][accel][steer_angle_vel][in_collision]return def [update_pose](self,""" if [steer_buffer].shape[0][steer_buffer_size]:[steer_buffer][steer_buffer])else : [steer_buffer][-1][steer_buffer][steer_buffer][:-1][steer_buffer][steer_buffer])[state][3],[state][2],[params]['sv_max' ],[params][ 'a_max' ],[params][ 'v_max' ],[params][ 'v_min' ]) [state],[params]['mu' ], [params]['C_Sf' ], [params]['C_Sr' ], [params]['lf' ], [params]['lr' ], [params]['h' ], [params]['m' ], [params]['I' ], [params]['s_min' ], [params]['s_max' ], [params]['sv_min' ], [params]['sv_max' ], [params]['v_switch' ], [params]['a_max' ], [params]['v_min' ], [params]['v_max' ]) [state][state][time_step][current_scan][scan_simulator].scan(np.append(self.[state][0:2],[state][4]))def [update_opp_poses](self,""" [opp_poses]def [update_scan](self):""" [check_ttc]()[current_scan][ray_cast_agents](self.[current_scan])class [Simulator](object):""" def [__init__](self,""" [num_agents][time_step][ego_idx][params][agent_poses][num_agents],[agents][collisions][num_agents],[collision_idx][num_agents],for in [num_agents]):if [RaceCar](params,True ) [agents].append(ego_car)else : [RaceCar](params)[agents].append(agent)def [set_map](self,""" for in [agents]:def [update_params](self,""" if for in [agents]:elif and [num_agents]:[agents][agent_idx].[update_params](params)else : raise 'Index ) def [check_collision](self):""" [num_agents],for in [num_agents]):[agents][i].state[0:2],self.[agents][i].state[4]),[params]['length' ],[params][ 'width' ]) [collisions],[collision_idx]def [step](self,""" for in [agents]):[agent_poses][i,[check_collision]()for in [agents]):[agent_poses][0:i,[agent_poses][i+1:,if [collisions][i]'ego_idx' :[ego_idx], 'scans' : 'poses_x' : 'poses_y' : 'poses_theta' : 'linear_vels_x' : 'linear_vels_y' : 'ang_vels_z' : 'collisions' :[collisions]} for in [agents]:'scans' ].append(agent.current_scan) 'poses_x' ].append(agent.state[0]) 'poses_y' ].append(agent.state[1]) 'poses_theta' ].append(agent.state[4]) 'linear_vels_x' ].append(agent.state[3]) 'linear_vels_y' ].append(0.) 'ang_vels_z' ].append(agent.state[5]) return def [reset](self,""" if [num_agents]:raise 'Number ) for in [num_agents]):[agents][i].[reset](poses[i,
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml b/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml
deleted file mode 100644
index 905e3309..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_race_car.xml
+++ /dev/null
@@ -1,603 +0,0 @@
-
-
-
- f110_gym::envs::base_classes::RaceCar
- object
-
-
- f110_gym.envs.base_classes.RaceCar::params
- params
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::is_ego
- is_ego
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::time_step
- time_step
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::num_beams
- num_beams
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::fov
- fov
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::state
- state
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::opp_poses
- opp_poses
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::accel
- accel
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::steer_angle_vel
- steer_angle_vel
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::steer_buffer
- steer_buffer
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::steer_buffer_size
- steer_buffer_size
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::in_collision
- in_collision
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::ttc_thresh
- ttc_thresh
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::scan_simulator
- scan_simulator
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::current_scan
- current_scan
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::cosines
- cosines
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::scan_angles
- scan_angles
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.RaceCar::side_distances
- side_distances
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.__init__
- (self, params, is_ego=False, time_step=0.01, num_beams=1080, fov=4.7)
- __init__
- self
- self
-
- params
- params
-
- is_ego
- is_ego
- False
-
- time_step
- time_step
- 0.01
-
- num_beams
- num_beams
- 1080
-
- fov
- fov
- 4.7
-
-
-
-
-Init function
-
-Args:
- params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max': 9.51, 'v_min', 'v_max', 'length', 'width'}
- is_ego (bool, default=False): ego identifier
- time_step (float, default=0.01): physics sim time step
- num_beams (int, default=1080): number of beams in the laser scan
- fov (float, default=4.7): field of view of the laser
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.update_params
- (self, params)
- update_params
- self
- self
-
- params
- params
-
-
-
-
-Updates the physical parameters of the vehicle
-Note that does not need to be called at initialization of class anymore
-
-Args:
- params (dict): new parameters for the vehicle
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.set_map
- (self, map_path, map_ext)
- set_map
- self
- self
-
- map_path
- map_path
-
- map_ext
- map_ext
-
-
-
-
-Sets the map for scan simulator
-
-Args:
- map_path (str): absolute path to the map yaml file
- map_ext (str): extension of the map image file
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.reset
- (self, pose)
- reset
- self
- self
-
- pose
- pose
-
-
-
-
-Resets the vehicle to a pose
-
-Args:
- pose (np.ndarray (3, )): pose to reset the vehicle to
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.ray_cast_agents
- (self, scan)
- ray_cast_agents
- self
- self
-
- scan
- scan
-
-
-
-
-Ray cast onto other agents in the env, modify original scan
-
-Args:
- scan (np.ndarray, (n, )): original scan range array
-
-Returns:
- new_scan (np.ndarray, (n, )): modified scan
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.check_ttc
- (self)
- check_ttc
- self
- self
-
-
-
-
-Check iTTC against the environment, sets vehicle states accordingly if collision occurs.
-Note that this does NOT check collision with other agents.
-
-state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle]
-
-Args:
- None
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.update_pose
- (self, raw_steer, vel)
- update_pose
- self
- self
-
- raw_steer
- raw_steer
-
- vel
- vel
-
-
-
-
-Steps the vehicle's physical simulation
-
-Args:
- steer (float): desired steering angle
- vel (float): desired longitudinal velocity
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.update_opp_poses
- (self, opp_poses)
- update_opp_poses
- self
- self
-
- opp_poses
- opp_poses
-
-
-
-
-Updates the vehicle's information on other vehicles
-
-Args:
- opp_poses (np.ndarray(num_other_agents, 3)): updated poses of other agents
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.RaceCar.update_scan
- (self)
- update_scan
- self
- self
-
-
-
-
-Steps the vehicle's laser scan simulation
-Separated from update_pose because needs to update scan based on NEW poses of agents in the environment
-
-Args:
- None
-
-Returns:
- None
-
-
-
-
-
-
-
-
-Base level race car class, handles the physics and laser scan of a single vehicle
-
-Data Members:
- params (dict): vehicle parameters dictionary
- is_ego (bool): ego identifier
- time_step (float): physics timestep
- num_beams (int): number of beams in laser
- fov (float): field of view of laser
- state (np.ndarray (7, )): state vector [x, y, theta, vel, steer_angle, ang_vel, slip_angle]
- odom (np.ndarray(13, )): odometry vector [x, y, z, qx, qy, qz, qw, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z]
- accel (float): current acceleration input
- steer_angle_vel (float): current steering velocity input
- in_collision (bool): collision indicator
-
-
- f110_gym.envs.base_classes.RaceCar
-
-
-
-
- object
-
-
-
-
- f110_gym.envs.base_classes.RaceCar
-
-
-
-
- object
-
-
-
- f110_gym::envs::base_classes::RaceCar __init__ f110_gym::envs::base_classes::RaceCar accel f110_gym::envs::base_classes::RaceCar check_ttc f110_gym::envs::base_classes::RaceCar cosines f110_gym::envs::base_classes::RaceCar current_scan f110_gym::envs::base_classes::RaceCar fov f110_gym::envs::base_classes::RaceCar in_collision f110_gym::envs::base_classes::RaceCar is_ego f110_gym::envs::base_classes::RaceCar num_beams f110_gym::envs::base_classes::RaceCar opp_poses f110_gym::envs::base_classes::RaceCar params f110_gym::envs::base_classes::RaceCar ray_cast_agents f110_gym::envs::base_classes::RaceCar reset f110_gym::envs::base_classes::RaceCar scan_angles f110_gym::envs::base_classes::RaceCar scan_simulator f110_gym::envs::base_classes::RaceCar set_map f110_gym::envs::base_classes::RaceCar side_distances f110_gym::envs::base_classes::RaceCar state f110_gym::envs::base_classes::RaceCar steer_angle_vel f110_gym::envs::base_classes::RaceCar steer_buffer f110_gym::envs::base_classes::RaceCar steer_buffer_size f110_gym::envs::base_classes::RaceCar time_step f110_gym::envs::base_classes::RaceCar ttc_thresh f110_gym::envs::base_classes::RaceCar update_opp_poses f110_gym::envs::base_classes::RaceCar update_params f110_gym::envs::base_classes::RaceCar update_pose f110_gym::envs::base_classes::RaceCar update_scan
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.xml b/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.xml
deleted file mode 100644
index 89325519..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1base__classes_1_1_simulator.xml
+++ /dev/null
@@ -1,365 +0,0 @@
-
-
-
- f110_gym::envs::base_classes::Simulator
- object
-
-
- f110_gym.envs.base_classes.Simulator::num_agents
- num_agents
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.Simulator::time_step
- time_step
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.Simulator::ego_idx
- ego_idx
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.Simulator::params
- params
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.Simulator::agent_poses
- agent_poses
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.Simulator::agents
- agents
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.Simulator::collisions
- collisions
-
-
-
-
-
-
-
-
- f110_gym.envs.base_classes.Simulator::collision_idx
- collision_idx
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.Simulator.__init__
- (self, params, num_agents, time_step=0.01, ego_idx=0)
- __init__
- self
- self
-
- params
- params
-
- num_agents
- num_agents
-
- time_step
- time_step
- 0.01
-
- ego_idx
- ego_idx
- 0
-
-
-
-
-Init function
-
-Args:
- params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 'v_min', 'v_max', 'length', 'width'}
- num_agents (int): number of agents in the environment
- time_step (float, default=0.01): physics time step
- ego_idx (int, default=0): ego vehicle's index in list of agents
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.Simulator.set_map
- (self, map_path, map_ext)
- set_map
- self
- self
-
- map_path
- map_path
-
- map_ext
- map_ext
-
-
-
-
-Sets the map of the environment and sets the map for scan simulator of each agent
-
-Args:
- map_path (str): path to the map yaml file
- map_ext (str): extension for the map image file
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.Simulator.update_params
- (self, params, agent_idx=-1)
- update_params
- self
- self
-
- params
- params
-
- agent_idx
- agent_idx
- -1
-
-
-
-
-Updates the params of agents, if an index of an agent is given, update only that agent's params
-
-Args:
- params (dict): dictionary of params, see details in docstring of __init__
- agent_idx (int, default=-1): index for agent that needs param update, if negative, update all agents
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.Simulator.check_collision
- (self)
- check_collision
- self
- self
-
-
-
-
-Checks for collision between agents using GJK and agents' body vertices
-
-Args:
- None
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.Simulator.step
- (self, control_inputs)
- step
- self
- self
-
- control_inputs
- control_inputs
-
-
-
-
-Steps the simulation environment
-
-Args:
- control_inputs (np.ndarray (num_agents, 2)): control inputs of all agents, first column is desired steering angle, second column is desired velocity
-
-Returns:
- observations (dict): dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc.
-
-
-
-
-
- def
- def f110_gym.envs.base_classes.Simulator.reset
- (self, poses)
- reset
- self
- self
-
- poses
- poses
-
-
-
-
-Resets the simulation environment by given poses
-
-Arges:
- poses (np.ndarray (num_agents, 3)): poses to reset agents to
-
-Returns:
- None
-
-
-
-
-
-
-
-
-Simulator class, handles the interaction and update of all vehicles in the environment
-
-Data Members:
- num_agents (int): number of agents in the environment
- time_step (float): physics time step
- agent_poses (np.ndarray(num_agents, 3)): all poses of all agents
- agents (list[RaceCar]): container for RaceCar objects
- collisions (np.ndarray(num_agents, )): array of collision indicator for each agent
- collision_idx (np.ndarray(num_agents, )): which agent is each agent in collision with
-
-
- f110_gym.envs.base_classes.Simulator
-
-
-
-
- object
-
-
-
-
- f110_gym.envs.base_classes.Simulator
-
-
-
-
- object
-
-
-
- f110_gym::envs::base_classes::Simulator __init__ f110_gym::envs::base_classes::Simulator agent_poses f110_gym::envs::base_classes::Simulator agents f110_gym::envs::base_classes::Simulator check_collision f110_gym::envs::base_classes::Simulator collision_idx f110_gym::envs::base_classes::Simulator collisions f110_gym::envs::base_classes::Simulator ego_idx f110_gym::envs::base_classes::Simulator num_agents f110_gym::envs::base_classes::Simulator params f110_gym::envs::base_classes::Simulator reset f110_gym::envs::base_classes::Simulator set_map f110_gym::envs::base_classes::Simulator step f110_gym::envs::base_classes::Simulator time_step f110_gym::envs::base_classes::Simulator update_params
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.xml b/docs/xml/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.xml
deleted file mode 100644
index e34072f7..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1collision__models_1_1_collision_tests.xml
+++ /dev/null
@@ -1,190 +0,0 @@
-
-
-
- f110_gym::envs::collision_models::CollisionTests
- TestCase
-
-
- f110_gym.envs.collision_models.CollisionTests::vertices1
- vertices1
-
-
-
-
-
-
-
-
- f110_gym.envs.collision_models.CollisionTests::length
- length
-
-
-
-
-
-
-
-
- f110_gym.envs.collision_models.CollisionTests::width
- width
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.CollisionTests.setUp
- (self)
- setUp
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.CollisionTests.test_get_vert
- (self)
- test_get_vert
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.CollisionTests.test_get_vert_fps
- (self)
- test_get_vert_fps
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.CollisionTests.test_random_collision
- (self)
- test_random_collision
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.CollisionTests.test_multiple_collisions
- (self)
- test_multiple_collisions
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.CollisionTests.test_fps
- (self)
- test_fps
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- f110_gym.envs.collision_models.CollisionTests
-
-
-
-
- TestCase
-
-
-
-
- f110_gym.envs.collision_models.CollisionTests
-
-
-
-
- TestCase
-
-
-
- f110_gym::envs::collision_models::CollisionTests length f110_gym::envs::collision_models::CollisionTests setUp f110_gym::envs::collision_models::CollisionTests test_fps f110_gym::envs::collision_models::CollisionTests test_get_vert f110_gym::envs::collision_models::CollisionTests test_get_vert_fps f110_gym::envs::collision_models::CollisionTests test_multiple_collisions f110_gym::envs::collision_models::CollisionTests test_random_collision f110_gym::envs::collision_models::CollisionTests vertices1 f110_gym::envs::collision_models::CollisionTests width
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test.xml b/docs/xml/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test.xml
deleted file mode 100644
index 5487daf6..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1dynamic__models_1_1_dynamics_test.xml
+++ /dev/null
@@ -1,372 +0,0 @@
-
-
-
- f110_gym::envs::dynamic_models::DynamicsTest
- TestCase
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::mu
- mu
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::C_Sf
- C_Sf
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::C_Sr
- C_Sr
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::lf
- lf
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::lr
- lr
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::h
- h
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::m
- m
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::I
- I
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::s_min
- s_min
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::s_max
- s_max
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::sv_min
- sv_min
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::sv_max
- sv_max
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::v_min
- v_min
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::v_max
- v_max
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::v_switch
- v_switch
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest::a_max
- a_max
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.DynamicsTest.setUp
- (self)
- setUp
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.DynamicsTest.test_derivatives
- (self)
- test_derivatives
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_roll
- (self)
- test_zeroinit_roll
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_dec
- (self)
- test_zeroinit_dec
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_acc
- (self)
- test_zeroinit_acc
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.DynamicsTest.test_zeroinit_rollleft
- (self)
- test_zeroinit_rollleft
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest
-
-
-
-
- TestCase
-
-
-
-
- f110_gym.envs.dynamic_models.DynamicsTest
-
-
-
-
- TestCase
-
-
-
- f110_gym::envs::dynamic_models::DynamicsTest a_max f110_gym::envs::dynamic_models::DynamicsTest C_Sf f110_gym::envs::dynamic_models::DynamicsTest C_Sr f110_gym::envs::dynamic_models::DynamicsTest h f110_gym::envs::dynamic_models::DynamicsTest I f110_gym::envs::dynamic_models::DynamicsTest lf f110_gym::envs::dynamic_models::DynamicsTest lr f110_gym::envs::dynamic_models::DynamicsTest m f110_gym::envs::dynamic_models::DynamicsTest mu f110_gym::envs::dynamic_models::DynamicsTest s_max f110_gym::envs::dynamic_models::DynamicsTest s_min f110_gym::envs::dynamic_models::DynamicsTest setUp f110_gym::envs::dynamic_models::DynamicsTest sv_max f110_gym::envs::dynamic_models::DynamicsTest sv_min f110_gym::envs::dynamic_models::DynamicsTest test_derivatives f110_gym::envs::dynamic_models::DynamicsTest test_zeroinit_acc f110_gym::envs::dynamic_models::DynamicsTest test_zeroinit_dec f110_gym::envs::dynamic_models::DynamicsTest test_zeroinit_roll f110_gym::envs::dynamic_models::DynamicsTest test_zeroinit_rollleft f110_gym::envs::dynamic_models::DynamicsTest v_max f110_gym::envs::dynamic_models::DynamicsTest v_min f110_gym::envs::dynamic_models::DynamicsTest v_switch
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.xml b/docs/xml/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.xml
deleted file mode 100644
index 2f611488..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1f110__env_1_1_f110_env.xml
+++ /dev/null
@@ -1,741 +0,0 @@
-
-
-
- f110_gym::envs::f110_env::F110Env
- Env
- EzPickle
-
-
- dictionary
- dictionary f110_gym.envs.f110_env.F110Env::metadata
- metadata
- = {'render.modes': ['human', 'human_fast']}
-
-
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::map_name
- map_name
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::map_path
- map_path
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::map_ext
- map_ext
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::params
- params
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::num_agents
- num_agents
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::timestep
- timestep
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::ego_idx
- ego_idx
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::start_thresh
- start_thresh
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::poses_x
- poses_x
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::poses_y
- poses_y
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::poses_theta
- poses_theta
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::collisions
- collisions
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::near_start
- near_start
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::num_toggles
- num_toggles
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::lap_times
- lap_times
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::lap_counts
- lap_counts
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::current_time
- current_time
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::near_starts
- near_starts
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::toggle_list
- toggle_list
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::start_xs
- start_xs
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::start_ys
- start_ys
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::start_thetas
- start_thetas
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::start_rot
- start_rot
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::sim
- sim
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::renderer
- renderer
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env.F110Env::current_obs
- current_obs
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env.__init__
- (self, **kwargs)
- __init__
- self
- self
-
- **
- kwargs
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env.__del__
- (self)
- __del__
- self
- self
-
-
-
-
-Finalizer, does cleanup
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env.step
- (self, action)
- step
- self
- self
-
- action
- action
-
-
-
-
-Step function for the gym env
-
-Args:
- action (np.ndarray(num_agents, 2))
-
-Returns:
- obs (dict): observation of the current step
- reward (float, default=self.timestep): step reward, currently is physics timestep
- done (bool): if the simulation is done
- info (dict): auxillary information dictionary
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env.reset
- (self, poses)
- reset
- self
- self
-
- poses
- poses
-
-
-
-
-Reset the gym environment by given poses
-
-Args:
- poses (np.ndarray (num_agents, 3)): poses to reset agents to
-
-Returns:
- obs (dict): observation of the current step
- reward (float, default=self.timestep): step reward, currently is physics timestep
- done (bool): if the simulation is done
- info (dict): auxillary information dictionary
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env.update_map
- (self, map_path, map_ext)
- update_map
- self
- self
-
- map_path
- map_path
-
- map_ext
- map_ext
-
-
-
-
-Updates the map used by simulation
-
-Args:
- map_path (str): absolute path to the map yaml file
- map_ext (str): extension of the map image file
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env.update_params
- (self, params, index=-1)
- update_params
- self
- self
-
- params
- params
-
- index
- index
- -1
-
-
-
-
-Updates the parameters used by simulation for vehicles
-
-Args:
- params (dict): dictionary of parameters
- index (int, default=-1): if >= 0 then only update a specific agent's params
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env.render
- (self, mode='human')
- render
- self
- self
-
- mode
- mode
- 'human'
-
-
-
-
-Renders the environment with pyglet. Use mouse scroll in the window to zoom in/out, use mouse click drag to pan. Shows the agents, the map, current fps (bottom left corner), and the race information near as text.
-
-Args:
- mode (str, default='human'): rendering mode, currently supports:
-'human': slowed down rendering such that the env is rendered in a way that sim time elapsed is close to real time elapsed
-'human_fast': render as fast as possible
-
-Returns:
- None
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env._check_done
- (self)
- _check_done
- self
- self
-
-
-
-
-Check if the current rollout is done
-
-Args:
- None
-
-Returns:
- done (bool): whether the rollout is done
- toggle_list (list[int]): each agent's toggle list for crossing the finish zone
-
-
-
-
-
- def
- def f110_gym.envs.f110_env.F110Env._update_state
- (self, obs_dict)
- _update_state
- self
- self
-
- obs_dict
- obs_dict
-
-
-
-
-Update the env's states according to observations
-
-Args:
- obs_dict (dict): dictionary of observation
-
-Returns:
- None
-
-
-
-
-
-
-
-
-OpenAI gym environment for F1TENTH
-
-Env should be initialized by calling gym.make('f110_gym:f110-v0', **kwargs)
-
-Args:
- kwargs:
- seed (int): seed for random state and reproducibility
-
- map (str, default='vegas'): name of the map used for the environment. Currently, available environments include: 'berlin', 'vegas', 'skirk'. You could use a string of the absolute path to the yaml file of your custom map.
-
- map_ext (str, default='png'): image extension of the map image file. For example 'png', 'pgm'
-
- params (dict, default={'mu': 1.0489, 'C_Sf':, 'C_Sr':, 'lf': 0.15875, 'lr': 0.17145, 'h': 0.074, 'm': 3.74, 'I': 0.04712, 's_min': -0.4189, 's_max': 0.4189, 'sv_min': -3.2, 'sv_max': 3.2, 'v_switch':7.319, 'a_max': 9.51, 'v_min':-5.0, 'v_max': 20.0, 'width': 0.31, 'length': 0.58}): dictionary of vehicle parameters.
- mu: surface friction coefficient
- C_Sf: Cornering stiffness coefficient, front
- C_Sr: Cornering stiffness coefficient, rear
- lf: Distance from center of gravity to front axle
- lr: Distance from center of gravity to rear axle
- h: Height of center of gravity
- m: Total mass of the vehicle
- I: Moment of inertial of the entire vehicle about the z axis
- s_min: Minimum steering angle constraint
- s_max: Maximum steering angle constraint
- sv_min: Minimum steering velocity constraint
- sv_max: Maximum steering velocity constraint
- v_switch: Switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
- a_max: Maximum longitudinal acceleration
- v_min: Minimum longitudinal velocity
- v_max: Maximum longitudinal velocity
- width: width of the vehicle in meters
- length: length of the vehicle in meters
-
- num_agents (int, default=2): number of agents in the environment
-
- timestep (float, default=0.01): physics timestep
-
- ego_idx (int, default=0): ego's index in list of agents
-
-
-
- Env
-
-
- f110_gym.envs.f110_env.F110Env
-
-
-
-
-
-
- EzPickle
-
-
-
-
- Env
-
-
- f110_gym.envs.f110_env.F110Env
-
-
-
-
-
-
- EzPickle
-
-
-
- f110_gym::envs::f110_env::F110Env __del__ f110_gym::envs::f110_env::F110Env __init__ f110_gym::envs::f110_env::F110Env _check_done f110_gym::envs::f110_env::F110Env _update_state f110_gym::envs::f110_env::F110Env collisions f110_gym::envs::f110_env::F110Env current_obs f110_gym::envs::f110_env::F110Env current_time f110_gym::envs::f110_env::F110Env ego_idx f110_gym::envs::f110_env::F110Env lap_counts f110_gym::envs::f110_env::F110Env lap_times f110_gym::envs::f110_env::F110Env map_ext f110_gym::envs::f110_env::F110Env map_name f110_gym::envs::f110_env::F110Env map_path f110_gym::envs::f110_env::F110Env metadata f110_gym::envs::f110_env::F110Env near_start f110_gym::envs::f110_env::F110Env near_starts f110_gym::envs::f110_env::F110Env num_agents f110_gym::envs::f110_env::F110Env num_toggles f110_gym::envs::f110_env::F110Env params f110_gym::envs::f110_env::F110Env poses_theta f110_gym::envs::f110_env::F110Env poses_x f110_gym::envs::f110_env::F110Env poses_y f110_gym::envs::f110_env::F110Env render f110_gym::envs::f110_env::F110Env renderer f110_gym::envs::f110_env::F110Env reset f110_gym::envs::f110_env::F110Env sim f110_gym::envs::f110_env::F110Env start_rot f110_gym::envs::f110_env::F110Env start_thetas f110_gym::envs::f110_env::F110Env start_thresh f110_gym::envs::f110_env::F110Env start_xs f110_gym::envs::f110_env::F110Env start_ys f110_gym::envs::f110_env::F110Env step f110_gym::envs::f110_env::F110Env timestep f110_gym::envs::f110_env::F110Env toggle_list f110_gym::envs::f110_env::F110Env update_map f110_gym::envs::f110_env::F110Env update_params
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.xml b/docs/xml/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.xml
deleted file mode 100644
index 325121f7..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1f110__env__backup_1_1_f110_env.xml
+++ /dev/null
@@ -1,1003 +0,0 @@
-
-
-
- f110_gym::envs::f110_env_backup::F110Env
- Env
- EzPickle
-
-
- dictionary
- dictionary f110_gym.envs.f110_env_backup.F110Env::metadata
- metadata
- = {'render.modes': []}
-
-
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::params_set
- params_set
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::map_inited
- map_inited
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::params
- params
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::num_agents
- num_agents
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::timestep
- timestep
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::map_path
- map_path
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::map_img
- map_img
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::ego_idx
- ego_idx
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::timeout
- timeout
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_thresh
- start_thresh
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::x
- x
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::y
- y
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::theta
- theta
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::in_collision
- in_collision
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::collision_angle
- collision_angle
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::near_start
- near_start
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::num_toggles
- num_toggles
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::lap_times
- lap_times
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::lap_counts
- lap_counts
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::map_height
- map_height
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::map_width
- map_width
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::map_resolution
- map_resolution
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::free_thresh
- free_thresh
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::origin
- origin
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::port
- port
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::context
- context
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::socket
- socket
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::sim_p
- sim_p
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::all_x
- all_x
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::all_y
- all_y
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::current_time
- current_time
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::collision_angles
- collision_angles
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::near_starts
- near_starts
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::toggle_list
- toggle_list
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_x
- start_x
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_y
- start_y
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_theta
- start_theta
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_xs
- start_xs
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_ys
- start_ys
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_thetas
- start_thetas
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::start_rot
- start_rot
-
-
-
-
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env::double_finish
- double_finish
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env.__init__
- (self)
- __init__
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env.__del__
- (self)
- __del__
- self
- self
-
-
-
-
-Finalizer, does cleanup
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env.step
- (self, action)
- step
- self
- self
-
- action
- action
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env.reset
- (self, poses=None)
- reset
- self
- self
-
- poses
- poses
- None
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env.init_map
- (self, map_path, img_ext, rgb, flip)
- init_map
- self
- self
-
- map_path
- map_path
-
- img_ext
- img_ext
-
- rgb
- rgb
-
- flip
- flip
-
-
-
-
- init a map for the gym env
- map_path: full path for the yaml, same as ROS, img and yaml in same dir
- rgb: map grayscale or rgb
- flip: if map needs flipping
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env.render
- (self, mode='human', close=False)
- render
- self
- self
-
- mode
- mode
- 'human'
-
- close
- close
- False
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env.update_params
- (self, mu, h_cg, l_r, cs_f, cs_r, I_z, mass, exe_path, double_finish=False)
- update_params
- self
- self
-
- mu
- mu
-
- h_cg
- h_cg
-
- l_r
- l_r
-
- cs_f
- cs_f
-
- cs_r
- cs_r
-
- I_z
- I_z
-
- mass
- mass
-
- exe_path
- exe_path
-
- double_finish
- double_finish
- False
-
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env._start_executable
- (self, path)
- _start_executable
- self
- self
-
- path
- path
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env._set_map
- (self)
- _set_map
- self
- self
-
-
-
-
-Sets the map for the simulator instance
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env._check_done
- (self)
- _check_done
- self
- self
-
-
-
-
-Check if the episode is done
-This is in terms of the ego car
-For our case, whether the car ends up close enough to the starting point
-And if accumulated time is over the timeout
-return true if done, false if not
-This assumes start is always (0, 0)
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env._check_passed
- (self)
- _check_passed
- self
- self
-
-
-
-
-Returns the times that the ego car overtook the other car
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env._update_state
- (self, obs_dict)
- _update_state
- self
- self
-
- obs_dict
- obs_dict
-
-
-
-
-Update the env's states according to observations
-obs is observation dictionary
-
-
-
-
-
- def
- def f110_gym.envs.f110_env_backup.F110Env._raycast_opponents
- (self, obs_dict)
- _raycast_opponents
- self
- self
-
- obs_dict
- obs_dict
-
-
-
-
-
-
-
-
-
-
-
-
-OpenAI gym environment for F1/10 simulator
-Use 0mq's REQ-REP pattern to communicate to the C++ simulator
-ONE env has ONE corresponding C++ instance
-Need to create env with map input, full path to map yaml file, map pgm image and yaml should be in same directory
-
-should be initialized with a map, a timestep, and number of agents
-
-
-
- f110_gym.envs.f110_env_backup.F110Env
-
-
-
-
-
-
- utils::EzPickle
-
-
- gym::Env
-
-
-
-
- f110_gym.envs.f110_env_backup.F110Env
-
-
-
-
-
-
- utils::EzPickle
-
-
- gym::Env
-
-
-
- f110_gym::envs::f110_env_backup::F110Env __del__ f110_gym::envs::f110_env_backup::F110Env __init__ f110_gym::envs::f110_env_backup::F110Env _check_done f110_gym::envs::f110_env_backup::F110Env _check_passed f110_gym::envs::f110_env_backup::F110Env _raycast_opponents f110_gym::envs::f110_env_backup::F110Env _set_map f110_gym::envs::f110_env_backup::F110Env _start_executable f110_gym::envs::f110_env_backup::F110Env _update_state f110_gym::envs::f110_env_backup::F110Env all_x f110_gym::envs::f110_env_backup::F110Env all_y f110_gym::envs::f110_env_backup::F110Env collision_angle f110_gym::envs::f110_env_backup::F110Env collision_angles f110_gym::envs::f110_env_backup::F110Env context f110_gym::envs::f110_env_backup::F110Env current_time f110_gym::envs::f110_env_backup::F110Env double_finish f110_gym::envs::f110_env_backup::F110Env ego_idx f110_gym::envs::f110_env_backup::F110Env free_thresh f110_gym::envs::f110_env_backup::F110Env in_collision f110_gym::envs::f110_env_backup::F110Env init_map f110_gym::envs::f110_env_backup::F110Env lap_counts f110_gym::envs::f110_env_backup::F110Env lap_times f110_gym::envs::f110_env_backup::F110Env map_height f110_gym::envs::f110_env_backup::F110Env map_img f110_gym::envs::f110_env_backup::F110Env map_inited f110_gym::envs::f110_env_backup::F110Env map_path f110_gym::envs::f110_env_backup::F110Env map_resolution f110_gym::envs::f110_env_backup::F110Env map_width f110_gym::envs::f110_env_backup::F110Env metadata f110_gym::envs::f110_env_backup::F110Env near_start f110_gym::envs::f110_env_backup::F110Env near_starts f110_gym::envs::f110_env_backup::F110Env num_agents f110_gym::envs::f110_env_backup::F110Env num_toggles f110_gym::envs::f110_env_backup::F110Env origin f110_gym::envs::f110_env_backup::F110Env params f110_gym::envs::f110_env_backup::F110Env params_set f110_gym::envs::f110_env_backup::F110Env port f110_gym::envs::f110_env_backup::F110Env render f110_gym::envs::f110_env_backup::F110Env reset f110_gym::envs::f110_env_backup::F110Env sim_p f110_gym::envs::f110_env_backup::F110Env socket f110_gym::envs::f110_env_backup::F110Env start_rot f110_gym::envs::f110_env_backup::F110Env start_theta f110_gym::envs::f110_env_backup::F110Env start_thetas f110_gym::envs::f110_env_backup::F110Env start_thresh f110_gym::envs::f110_env_backup::F110Env start_x f110_gym::envs::f110_env_backup::F110Env start_xs f110_gym::envs::f110_env_backup::F110Env start_y f110_gym::envs::f110_env_backup::F110Env start_ys f110_gym::envs::f110_env_backup::F110Env step f110_gym::envs::f110_env_backup::F110Env theta f110_gym::envs::f110_env_backup::F110Env timeout f110_gym::envs::f110_env_backup::F110Env timestep f110_gym::envs::f110_env_backup::F110Env toggle_list f110_gym::envs::f110_env_backup::F110Env update_params f110_gym::envs::f110_env_backup::F110Env x f110_gym::envs::f110_env_backup::F110Env y
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.xml b/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.xml
deleted file mode 100644
index b0ec5d16..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_simulator2_d.xml
+++ /dev/null
@@ -1,482 +0,0 @@
-
-
-
- f110_gym::envs::laser_models::ScanSimulator2D
- object
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::num_beams
- num_beams
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::fov
- fov
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::std_dev
- std_dev
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::eps
- eps
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::theta_dis
- theta_dis
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::max_range
- max_range
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::angle_increment
- angle_increment
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::theta_index_increment
- theta_index_increment
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::orig_c
- orig_c
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::orig_s
- orig_s
-
-
-
-
-
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-
-
- f110_gym.envs.laser_models.ScanSimulator2D::orig_x
- orig_x
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::orig_y
- orig_y
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::map_height
- map_height
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::map_width
- map_width
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::map_resolution
- map_resolution
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::dt
- dt
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::rng
- rng
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::sines
- sines
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::cosines
- cosines
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::map_img
- map_img
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D::origin
- origin
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanSimulator2D.__init__
- (self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123)
- __init__
- self
- self
-
- num_beams
- num_beams
-
- fov
- fov
-
- std_dev
- std_dev
- 0.01
-
- eps
- eps
- 0.0001
-
- theta_dis
- theta_dis
- 2000
-
- max_range
- max_range
- 30.0
-
- seed
- seed
- 123
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanSimulator2D.set_map
- (self, map_path, map_ext)
- set_map
- self
- self
-
- map_path
- map_path
-
- map_ext
- map_ext
-
-
-
-
-Set the bitmap of the scan simulator by path
-
- Args:
-map_path (str): path to the map yaml file
-map_ext (str): extension (image type) of the map image
-
- Returns:
-flag (bool): if image reading and loading is successful
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanSimulator2D.scan
- (self, pose)
- scan
- self
- self
-
- pose
- pose
-
-
-
-
-Perform simulated 2D scan by pose on the given map
-
- Args:
-pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta)
-
- Returns:
-scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams
-
- Raises:
-ValueError: when scan is called before a map is set
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanSimulator2D.get_increment
- (self)
- get_increment
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-2D LIDAR scan simulator class
-
-Init params:
- num_beams (int): number of beams in the scan
- fov (float): field of view of the laser scan
- std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan
- eps (float, default=0.0001): ray tracing iteration termination condition
- theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up
- max_range (float, default=30.0): maximum range of the laser
- seed (int, default=123): seed for random number generator for the whitenoise in scan
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D
-
-
-
-
- object
-
-
-
-
- f110_gym.envs.laser_models.ScanSimulator2D
-
-
-
-
- object
-
-
-
- f110_gym::envs::laser_models::ScanSimulator2D __init__ f110_gym::envs::laser_models::ScanSimulator2D angle_increment f110_gym::envs::laser_models::ScanSimulator2D cosines f110_gym::envs::laser_models::ScanSimulator2D dt f110_gym::envs::laser_models::ScanSimulator2D eps f110_gym::envs::laser_models::ScanSimulator2D fov f110_gym::envs::laser_models::ScanSimulator2D get_increment f110_gym::envs::laser_models::ScanSimulator2D map_height f110_gym::envs::laser_models::ScanSimulator2D map_img f110_gym::envs::laser_models::ScanSimulator2D map_resolution f110_gym::envs::laser_models::ScanSimulator2D map_width f110_gym::envs::laser_models::ScanSimulator2D max_range f110_gym::envs::laser_models::ScanSimulator2D num_beams f110_gym::envs::laser_models::ScanSimulator2D orig_c f110_gym::envs::laser_models::ScanSimulator2D orig_s f110_gym::envs::laser_models::ScanSimulator2D orig_x f110_gym::envs::laser_models::ScanSimulator2D orig_y f110_gym::envs::laser_models::ScanSimulator2D origin f110_gym::envs::laser_models::ScanSimulator2D rng f110_gym::envs::laser_models::ScanSimulator2D scan f110_gym::envs::laser_models::ScanSimulator2D set_map f110_gym::envs::laser_models::ScanSimulator2D sines f110_gym::envs::laser_models::ScanSimulator2D std_dev f110_gym::envs::laser_models::ScanSimulator2D theta_dis f110_gym::envs::laser_models::ScanSimulator2D theta_index_increment
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.xml b/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.xml
deleted file mode 100644
index 8801bc4d..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1laser__models_1_1_scan_tests.xml
+++ /dev/null
@@ -1,196 +0,0 @@
-
-
-
- f110_gym::envs::laser_models::ScanTests
- TestCase
-
-
- f110_gym.envs.laser_models.ScanTests::num_beams
- num_beams
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanTests::fov
- fov
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanTests::num_test
- num_test
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanTests::test_poses
- test_poses
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanTests::berlin_scan
- berlin_scan
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanTests::skirk_scan
- skirk_scan
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanTests.setUp
- (self)
- setUp
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanTests.test_map_berlin
- (self)
- test_map_berlin
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanTests.test_map_skirk
- (self)
- test_map_skirk
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ScanTests.test_fps
- (self)
- test_fps
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- f110_gym.envs.laser_models.ScanTests
-
-
-
-
- TestCase
-
-
-
-
- f110_gym.envs.laser_models.ScanTests
-
-
-
-
- TestCase
-
-
-
- f110_gym::envs::laser_models::ScanTests berlin_scan f110_gym::envs::laser_models::ScanTests fov f110_gym::envs::laser_models::ScanTests num_beams f110_gym::envs::laser_models::ScanTests num_test f110_gym::envs::laser_models::ScanTests setUp f110_gym::envs::laser_models::ScanTests skirk_scan f110_gym::envs::laser_models::ScanTests test_fps f110_gym::envs::laser_models::ScanTests test_map_berlin f110_gym::envs::laser_models::ScanTests test_map_skirk f110_gym::envs::laser_models::ScanTests test_poses
-
-
diff --git a/docs/xml/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.xml b/docs/xml/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.xml
deleted file mode 100644
index 27e6d449..00000000
--- a/docs/xml/classf110__gym_1_1envs_1_1rendering_1_1_env_renderer.xml
+++ /dev/null
@@ -1,552 +0,0 @@
-
-
-
- f110_gym::envs::rendering::EnvRenderer
- Window
-
-
- f110_gym.envs.rendering.EnvRenderer::left
- left
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::right
- right
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::bottom
- bottom
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::top
- top
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::zoom_level
- zoom_level
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::zoomed_width
- zoomed_width
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::zoomed_height
- zoomed_height
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::batch
- batch
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::map_points
- map_points
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::poses
- poses
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::vertices
- vertices
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::score_label
- score_label
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::fps_display
- fps_display
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::ego_idx
- ego_idx
-
-
-
-
-
-
-
-
- f110_gym.envs.rendering.EnvRenderer::cars
- cars
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.__init__
- (self, width, height, *args, **kwargs)
- __init__
- self
- self
-
- width
- width
-
- height
- height
-
- *
- args
-
- **
- kwargs
-
-
-
-
-Class constructor
-
-Args:
- width (int): width of the window
- height (int): height of the window
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.update_map
- (self, map_path, map_ext)
- update_map
- self
- self
-
- map_path
- map_path
-
- map_ext
- map_ext
-
-
-
-
-Update the map being drawn by the renderer. Converts image to a list of 3D points representing each obstacle pixel in the map.
-
-Args:
- map_path (str): absolute path to the map without extensions
- map_ext (str): extension for the map image file
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.on_resize
- (self, width, height)
- on_resize
- self
- self
-
- width
- width
-
- height
- height
-
-
-
-
-Callback function on window resize, overrides inherited method, and updates camera values on top of the inherited on_resize() method.
-
-Potential improvements on current behavior: zoom/pan resets on window resize.
-
-Args:
- width (int): new width of window
- height (int): new height of window
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.on_mouse_drag
- (self, x, y, dx, dy, buttons, modifiers)
- on_mouse_drag
- self
- self
-
- x
- x
-
- y
- y
-
- dx
- dx
-
- dy
- dy
-
- buttons
- buttons
-
- modifiers
- modifiers
-
-
-
-
-Callback function on mouse drag, overrides inherited method.
-
-Args:
- x (int): Distance in pixels from the left edge of the window.
- y (int): Distance in pixels from the bottom edge of the window.
- dx (int): Relative X position from the previous mouse position.
- dy (int): Relative Y position from the previous mouse position.
- buttons (int): Bitwise combination of the mouse buttons currently pressed.
- modifiers (int): Bitwise combination of any keyboard modifiers currently active.
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.on_mouse_scroll
- (self, x, y, dx, dy)
- on_mouse_scroll
- self
- self
-
- x
- x
-
- y
- y
-
- dx
- dx
-
- dy
- dy
-
-
-
-
-Callback function on mouse scroll, overrides inherited method.
-
-Args:
- x (int): Distance in pixels from the left edge of the window.
- y (int): Distance in pixels from the bottom edge of the window.
- scroll_x (float): Amount of movement on the horizontal axis.
- scroll_y (float): Amount of movement on the vertical axis.
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.on_close
- (self)
- on_close
- self
- self
-
-
-
-
-Callback function when the 'x' is clicked on the window, overrides inherited method. Also throws exception to end the python program when in a loop.
-
-Args:
- None
-
-Returns:
- None
-
-Raises:
- Exception: with a message that indicates the rendering window was closed
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.on_draw
- (self)
- on_draw
- self
- self
-
-
-
-
-Function when the pyglet is drawing. The function draws the batch created that includes the map points, the agent polygons, and the information text, and the fps display.
-
-Args:
- None
-
-Returns:
- None
-
-
-
-
-
- def
- def f110_gym.envs.rendering.EnvRenderer.update_obs
- (self, obs)
- update_obs
- self
- self
-
- obs
- obs
-
-
-
-
-Updates the renderer with the latest observation from the gym environment, including the agent poses, and the information text.
-
-Args:
- obs (dict): observation dict from the gym env
-
-Returns:
- None
-
-
-
-
-
-
-
-
-A window class inherited from pyglet.window.Window, handles the camera/projection interaction, resizing window, and rendering the environment
-
-
-
- Window
-
-
- f110_gym.envs.rendering.EnvRenderer
-
-
-
-
-
-
- Window
-
-
- f110_gym.envs.rendering.EnvRenderer
-
-
-
-
-
- f110_gym::envs::rendering::EnvRenderer __init__ f110_gym::envs::rendering::EnvRenderer batch f110_gym::envs::rendering::EnvRenderer bottom f110_gym::envs::rendering::EnvRenderer cars f110_gym::envs::rendering::EnvRenderer ego_idx f110_gym::envs::rendering::EnvRenderer fps_display f110_gym::envs::rendering::EnvRenderer left f110_gym::envs::rendering::EnvRenderer map_points f110_gym::envs::rendering::EnvRenderer on_close f110_gym::envs::rendering::EnvRenderer on_draw f110_gym::envs::rendering::EnvRenderer on_mouse_drag f110_gym::envs::rendering::EnvRenderer on_mouse_scroll f110_gym::envs::rendering::EnvRenderer on_resize f110_gym::envs::rendering::EnvRenderer poses f110_gym::envs::rendering::EnvRenderer right f110_gym::envs::rendering::EnvRenderer score_label f110_gym::envs::rendering::EnvRenderer top f110_gym::envs::rendering::EnvRenderer update_map f110_gym::envs::rendering::EnvRenderer update_obs f110_gym::envs::rendering::EnvRenderer vertices f110_gym::envs::rendering::EnvRenderer zoom_level f110_gym::envs::rendering::EnvRenderer zoomed_height f110_gym::envs::rendering::EnvRenderer zoomed_width
-
-
diff --git a/docs/xml/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.xml b/docs/xml/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.xml
deleted file mode 100644
index c4fdfdde..00000000
--- a/docs/xml/classf110__gym_1_1unittest_1_1collision__checks_1_1_collision_tests.xml
+++ /dev/null
@@ -1,172 +0,0 @@
-
-
-
- f110_gym::unittest::collision_checks::CollisionTests
- TestCase
-
-
- f110_gym.unittest.collision_checks.CollisionTests::vertices1
- vertices1
-
-
-
-
-
-
-
-
- f110_gym.unittest.collision_checks.CollisionTests::length
- length
-
-
-
-
-
-
-
-
- f110_gym.unittest.collision_checks.CollisionTests::width
- width
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.CollisionTests.setUp
- (self)
- setUp
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.CollisionTests.test_get_vert
- (self)
- test_get_vert
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.CollisionTests.test_get_vert_fps
- (self)
- test_get_vert_fps
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.CollisionTests.test_random_collision
- (self)
- test_random_collision
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.CollisionTests.test_fps
- (self)
- test_fps
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- f110_gym.unittest.collision_checks.CollisionTests
-
-
-
-
- TestCase
-
-
-
-
- f110_gym.unittest.collision_checks.CollisionTests
-
-
-
-
- TestCase
-
-
-
- f110_gym::unittest::collision_checks::CollisionTests length f110_gym::unittest::collision_checks::CollisionTests setUp f110_gym::unittest::collision_checks::CollisionTests test_fps f110_gym::unittest::collision_checks::CollisionTests test_get_vert f110_gym::unittest::collision_checks::CollisionTests test_get_vert_fps f110_gym::unittest::collision_checks::CollisionTests test_random_collision f110_gym::unittest::collision_checks::CollisionTests vertices1 f110_gym::unittest::collision_checks::CollisionTests width
-
-
diff --git a/docs/xml/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.xml b/docs/xml/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.xml
deleted file mode 100644
index 7c7b3e1f..00000000
--- a/docs/xml/classf110__gym_1_1unittest_1_1dynamics__test_1_1_dynamics_test.xml
+++ /dev/null
@@ -1,372 +0,0 @@
-
-
-
- f110_gym::unittest::dynamics_test::DynamicsTest
- TestCase
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::mu
- mu
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::C_Sf
- C_Sf
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::C_Sr
- C_Sr
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::lf
- lf
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::lr
- lr
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::h
- h
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::m
- m
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::I
- I
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::s_min
- s_min
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::s_max
- s_max
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::sv_min
- sv_min
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::sv_max
- sv_max
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::v_min
- v_min
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::v_max
- v_max
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::v_switch
- v_switch
-
-
-
-
-
-
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest::a_max
- a_max
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.DynamicsTest.setUp
- (self)
- setUp
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.DynamicsTest.test_derivatives
- (self)
- test_derivatives
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_roll
- (self)
- test_zeroinit_roll
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_dec
- (self)
- test_zeroinit_dec
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_acc
- (self)
- test_zeroinit_acc
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.DynamicsTest.test_zeroinit_rollleft
- (self)
- test_zeroinit_rollleft
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- TestCase
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest
-
-
-
-
-
-
- TestCase
-
-
- f110_gym.unittest.dynamics_test.DynamicsTest
-
-
-
-
-
- f110_gym::unittest::dynamics_test::DynamicsTest a_max f110_gym::unittest::dynamics_test::DynamicsTest C_Sf f110_gym::unittest::dynamics_test::DynamicsTest C_Sr f110_gym::unittest::dynamics_test::DynamicsTest h f110_gym::unittest::dynamics_test::DynamicsTest I f110_gym::unittest::dynamics_test::DynamicsTest lf f110_gym::unittest::dynamics_test::DynamicsTest lr f110_gym::unittest::dynamics_test::DynamicsTest m f110_gym::unittest::dynamics_test::DynamicsTest mu f110_gym::unittest::dynamics_test::DynamicsTest s_max f110_gym::unittest::dynamics_test::DynamicsTest s_min f110_gym::unittest::dynamics_test::DynamicsTest setUp f110_gym::unittest::dynamics_test::DynamicsTest sv_max f110_gym::unittest::dynamics_test::DynamicsTest sv_min f110_gym::unittest::dynamics_test::DynamicsTest test_derivatives f110_gym::unittest::dynamics_test::DynamicsTest test_zeroinit_acc f110_gym::unittest::dynamics_test::DynamicsTest test_zeroinit_dec f110_gym::unittest::dynamics_test::DynamicsTest test_zeroinit_roll f110_gym::unittest::dynamics_test::DynamicsTest test_zeroinit_rollleft f110_gym::unittest::dynamics_test::DynamicsTest v_max f110_gym::unittest::dynamics_test::DynamicsTest v_min f110_gym::unittest::dynamics_test::DynamicsTest v_switch
-
-
diff --git a/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.xml b/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.xml
deleted file mode 100644
index 869ddbbb..00000000
--- a/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_camera.xml
+++ /dev/null
@@ -1,365 +0,0 @@
-
-
-
- f110_gym::unittest::pyglet_test::Camera
- f110_gym.unittest.pyglet_test.CenteredCamera
-
-
- f110_gym.unittest.pyglet_test.Camera::_window
- _window
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test.Camera::_zoom
- _zoom
-
-
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test.Camera::scroll_speed
- scroll_speed
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test.Camera::max_zoom
- max_zoom
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test.Camera::min_zoom
- min_zoom
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test.Camera::offset_x
- offset_x
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test.Camera::offset_y
- offset_y
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.__init__
- (self, pyglet.window.Window window, scroll_speed=1, min_zoom=1, max_zoom=4)
- __init__
- self
- self
-
- pyglet.window.Window
- window
-
- scroll_speed
- scroll_speed
- 1
-
- min_zoom
- min_zoom
- 1
-
- max_zoom
- max_zoom
- 4
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.zoom
- (self)
- zoom
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.zoom
- (self, value)
- zoom
- self
- self
-
- value
- value
-
-
-
-
-Here we set zoom, clamp value to minimum of min_zoom and max of max_zoom.
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.position
- (self)
- position
- self
- self
-
-
-
-
-Query the current offset.
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.position
- (self, value)
- position
- self
- self
-
- value
- value
-
-
-
-
-Set the scroll offset directly.
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.move
- (self, axis_x, axis_y)
- move
- self
- self
-
- axis_x
- axis_x
-
- axis_y
- axis_y
-
-
-
-
-Move axis direction with scroll_speed.
- Example: Move left -> move(-1, 0)
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.begin
- (self)
- begin
- begin
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.end
- (self)
- end
- end
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.__enter__
- (self)
- __enter__
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.Camera.__exit__
- (self, exception_type, exception_value, traceback)
- __exit__
- self
- self
-
- exception_type
- exception_type
-
- exception_value
- exception_value
-
- traceback
- traceback
-
-
-
-
-
-
-
-
-
-
-
-
-A simple 2D camera that contains the speed and offset.
-
-
- f110_gym.unittest.pyglet_test.Camera
-
-
- f110_gym.unittest.pyglet_test.CenteredCamera
-
-
-
-
-
- f110_gym::unittest::pyglet_test::Camera __enter__ f110_gym::unittest::pyglet_test::Camera __exit__ f110_gym::unittest::pyglet_test::Camera __init__ f110_gym::unittest::pyglet_test::Camera _window f110_gym::unittest::pyglet_test::Camera _zoom f110_gym::unittest::pyglet_test::Camera begin f110_gym::unittest::pyglet_test::Camera end f110_gym::unittest::pyglet_test::Camera max_zoom f110_gym::unittest::pyglet_test::Camera min_zoom f110_gym::unittest::pyglet_test::Camera move f110_gym::unittest::pyglet_test::Camera offset_x f110_gym::unittest::pyglet_test::Camera offset_y f110_gym::unittest::pyglet_test::Camera position f110_gym::unittest::pyglet_test::Camera position f110_gym::unittest::pyglet_test::Camera scroll_speed f110_gym::unittest::pyglet_test::Camera zoom f110_gym::unittest::pyglet_test::Camera zoom
-
-
diff --git a/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.xml b/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.xml
deleted file mode 100644
index 3b444eb8..00000000
--- a/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test_1_1_centered_camera.xml
+++ /dev/null
@@ -1,92 +0,0 @@
-
-
-
- f110_gym::unittest::pyglet_test::CenteredCamera
- f110_gym.unittest.pyglet_test.Camera
-
-
- def
- def f110_gym.unittest.pyglet_test.CenteredCamera.begin
- (self)
- begin
- begin
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.CenteredCamera.end
- (self)
- end
- end
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-A simple 2D camera class. 0, 0 will be the center of the screen, as opposed to the bottom left.
-
-
- f110_gym.unittest.pyglet_test.Camera
-
-
- f110_gym.unittest.pyglet_test.CenteredCamera
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test.Camera
-
-
- f110_gym.unittest.pyglet_test.CenteredCamera
-
-
-
-
-
- f110_gym::unittest::pyglet_test::CenteredCamera __enter__ f110_gym::unittest::pyglet_test::CenteredCamera __exit__ f110_gym::unittest::pyglet_test::CenteredCamera __init__ f110_gym::unittest::pyglet_test::CenteredCamera begin f110_gym::unittest::pyglet_test::CenteredCamera end f110_gym::unittest::pyglet_test::CenteredCamera max_zoom f110_gym::unittest::pyglet_test::CenteredCamera min_zoom f110_gym::unittest::pyglet_test::CenteredCamera move f110_gym::unittest::pyglet_test::CenteredCamera offset_x f110_gym::unittest::pyglet_test::CenteredCamera offset_y f110_gym::unittest::pyglet_test::CenteredCamera position f110_gym::unittest::pyglet_test::CenteredCamera position f110_gym::unittest::pyglet_test::CenteredCamera scroll_speed f110_gym::unittest::pyglet_test::CenteredCamera zoom f110_gym::unittest::pyglet_test::CenteredCamera zoom
-
-
diff --git a/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.xml b/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.xml
deleted file mode 100644
index ece91a9e..00000000
--- a/docs/xml/classf110__gym_1_1unittest_1_1pyglet__test__camera_1_1_app.xml
+++ /dev/null
@@ -1,336 +0,0 @@
-
-
-
- f110_gym::unittest::pyglet_test_camera::App
- Window
-
-
- f110_gym.unittest.pyglet_test_camera.App::left
- left
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App::right
- right
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App::bottom
- bottom
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App::top
- top
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App::zoom_level
- zoom_level
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App::zoomed_width
- zoomed_width
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App::zoomed_height
- zoomed_height
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test_camera.App.__init__
- (self, width, height, *args, **kwargs)
- __init__
- self
- self
-
- width
- width
-
- height
- height
-
- *
- args
-
- **
- kwargs
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test_camera.App.init_gl
- (self, width, height)
- init_gl
- self
- self
-
- width
- width
-
- height
- height
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test_camera.App.on_resize
- (self, width, height)
- on_resize
- self
- self
-
- width
- width
-
- height
- height
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test_camera.App.on_mouse_drag
- (self, x, y, dx, dy, buttons, modifiers)
- on_mouse_drag
- self
- self
-
- x
- x
-
- y
- y
-
- dx
- dx
-
- dy
- dy
-
- buttons
- buttons
-
- modifiers
- modifiers
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test_camera.App.on_mouse_scroll
- (self, x, y, dx, dy)
- on_mouse_scroll
- self
- self
-
- x
- x
-
- y
- y
-
- dx
- dx
-
- dy
- dy
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test_camera.App.on_draw
- (self)
- on_draw
- self
- self
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test_camera.App.run
- (self)
- run
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App
-
-
-
-
- pyglet::window::Window
-
-
-
-
- f110_gym.unittest.pyglet_test_camera.App
-
-
-
-
- pyglet::window::Window
-
-
-
- f110_gym::unittest::pyglet_test_camera::App __init__ f110_gym::unittest::pyglet_test_camera::App bottom f110_gym::unittest::pyglet_test_camera::App init_gl f110_gym::unittest::pyglet_test_camera::App left f110_gym::unittest::pyglet_test_camera::App on_draw f110_gym::unittest::pyglet_test_camera::App on_mouse_drag f110_gym::unittest::pyglet_test_camera::App on_mouse_scroll f110_gym::unittest::pyglet_test_camera::App on_resize f110_gym::unittest::pyglet_test_camera::App right f110_gym::unittest::pyglet_test_camera::App run f110_gym::unittest::pyglet_test_camera::App top f110_gym::unittest::pyglet_test_camera::App zoom_level f110_gym::unittest::pyglet_test_camera::App zoomed_height f110_gym::unittest::pyglet_test_camera::App zoomed_width
-
-
diff --git a/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.xml b/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.xml
deleted file mode 100644
index d5de8118..00000000
--- a/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_simulator2_d.xml
+++ /dev/null
@@ -1,482 +0,0 @@
-
-
-
- f110_gym::unittest::scan_sim::ScanSimulator2D
- object
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::num_beams
- num_beams
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::fov
- fov
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::std_dev
- std_dev
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::eps
- eps
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::theta_dis
- theta_dis
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::max_range
- max_range
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::angle_increment
- angle_increment
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::theta_index_increment
- theta_index_increment
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::orig_c
- orig_c
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::orig_s
- orig_s
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::orig_x
- orig_x
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::orig_y
- orig_y
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::map_height
- map_height
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::map_width
- map_width
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::map_resolution
- map_resolution
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::dt
- dt
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::rng
- rng
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::sines
- sines
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::cosines
- cosines
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::map_img
- map_img
-
-
-
-
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D::origin
- origin
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.ScanSimulator2D.__init__
- (self, num_beams, fov, std_dev=0.01, eps=0.0001, theta_dis=2000, max_range=30.0, seed=123)
- __init__
- self
- self
-
- num_beams
- num_beams
-
- fov
- fov
-
- std_dev
- std_dev
- 0.01
-
- eps
- eps
- 0.0001
-
- theta_dis
- theta_dis
- 2000
-
- max_range
- max_range
- 30.0
-
- seed
- seed
- 123
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.ScanSimulator2D.set_map
- (self, map_path, map_ext)
- set_map
- self
- self
-
- map_path
- map_path
-
- map_ext
- map_ext
-
-
-
-
-Set the bitmap of the scan simulator by path
-
- Args:
-map_path (str): path to the map yaml file
-map_ext (str): extension (image type) of the map image
-
- Returns:
-flag (bool): if image reading and loading is successful
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.ScanSimulator2D.scan
- (self, pose)
- scan
- self
- self
-
- pose
- pose
-
-
-
-
-Perform simulated 2D scan by pose on the given map
-
- Args:
-pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta)
-
- Returns:
-scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams
-
- Raises:
-ValueError: when scan is called before a map is set
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.ScanSimulator2D.get_increment
- (self)
- get_increment
- self
- self
-
-
-
-
-
-
-
-
-
-
-
-
-2D LIDAR scan simulator class
-
-Init params:
- num_beams (int): number of beams in the scan
- fov (float): field of view of the laser scan
- std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan
- eps (float, default=0.0001): ray tracing iteration termination condition
- theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up
- max_range (float, default=30.0): maximum range of the laser
- seed (int, default=123): seed for random number generator for the whitenoise in scan
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D
-
-
-
-
- object
-
-
-
-
- f110_gym.unittest.scan_sim.ScanSimulator2D
-
-
-
-
- object
-
-
-
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diff --git a/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_tests.xml b/docs/xml/classf110__gym_1_1unittest_1_1scan__sim_1_1_scan_tests.xml
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diff --git a/docs/xml/collision__checks_8py.xml b/docs/xml/collision__checks_8py.xml
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-""" Prototype Originally Author: """ import as from import @njit(cache= True ) def perpendicular(pt): """ return @njit(cache= True ) def tripleProduct(a, """ return @njit(cache= True ) def avgPoint(vertices): """ return @njit(cache= True ) def indexOfFurthestPoint(vertices, """ return @njit(cache= True ) def support(vertices1, """ return @njit(cache= True ) def collision(vertices1, """ if and if return False while if return False if if continue if else : if return True return False """ Utility """ @njit(cache= True ) def get_trmtx(pose): """ return @njit(cache= True ) def get_vertices(pose, """ return """ Unit Author: """ import import class [CollisionTests](unittest.TestCase):def setUp(self): [vertices1][length][width]def test_get_vert(self): [length],[width])import as 'red' ) 'equal' ) def test_get_vert_fps(self): for in [length],[width])'get , def test_random_collision(self): for in [vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.def test_fps(self): for in [vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.'gjk , if '__main__' :
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diff --git a/docs/xml/collision__models_8py.xml b/docs/xml/collision__models_8py.xml
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-""" Prototype Originally Author: """ import as from import @njit(cache= True ) def perpendicular(pt): """ return @njit(cache= True ) def tripleProduct(a, """ return @njit(cache= True ) def avgPoint(vertices): """ return @njit(cache= True ) def indexOfFurthestPoint(vertices, """ return @njit(cache= True ) def support(vertices1, """ return @njit(cache= True ) def collision(vertices1, """ if and if return False while if return False if if continue if else : if return True return False @njit(cache= True ) def collision_multiple(vertices): """ for in for in if return """ Utility """ @njit(cache= True ) def get_trmtx(pose): """ return @njit(cache= True ) def get_vertices(pose, """ return """ Unit Author: """ import import class [CollisionTests](unittest.TestCase):def setUp(self): [vertices1][length][width]def test_get_vert(self): [length],[width])import as 'red' ) 'equal' ) def test_get_vert_fps(self): for in [length],[width])'get , def test_random_collision(self): for in [vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.def test_multiple_collisions(self): [vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.[vertices1]def test_fps(self): for in [vertices1][vertices1].shape))/100.[vertices1][vertices1].shape))/100.'gjk , if '__main__' :
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- /home/billyzheng/f1tenth_gym/gym/f110_gym
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- __init__.py
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- pyglet_test_camera.py
- random_trackgen.py
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diff --git a/docs/xml/dir_87aab0849a7ff80b67f27d7f0ecafd88.xml b/docs/xml/dir_87aab0849a7ff80b67f27d7f0ecafd88.xml
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diff --git a/docs/xml/dir_cc06cd2fc16f827f09405fcedd02c7bb.xml b/docs/xml/dir_cc06cd2fc16f827f09405fcedd02c7bb.xml
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diff --git a/docs/xml/dynamic__models_8py.xml b/docs/xml/dynamic__models_8py.xml
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-""" Prototype Track Following Original Author: """ import as from import import import @njit(cache= True ) def accl_constraints(vel, """ if else : if and or and elif elif return @njit(cache= True ) def steering_constraint(steering_angle, """ if and or and elif elif return @njit(cache= True ) def vehicle_dynamics_ks(x, """ return @njit(cache= True ) def vehicle_dynamics_st(x, """ if else : return @njit(cache= True ) def pid(speed, """ if else : if if else : else : if else : return def func_KS(x, return def func_ST(x, return class [DynamicsTest](unittest.TestCase):def setUp(self): [mu][C_Sf][C_Sr][lf][lr][h][m][I][s_min][s_max][sv_min][sv_max][v_min][v_max][v_switch][a_max]def test_derivatives(self): [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max])[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max])for in [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max])def test_zeroinit_roll(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))def test_zeroinit_dec(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))def test_zeroinit_acc(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))def test_zeroinit_rollleft(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))if '__main__' :
-
-
diff --git a/docs/xml/dynamics__test_8py.xml b/docs/xml/dynamics__test_8py.xml
deleted file mode 100644
index 7ed9ed57..00000000
--- a/docs/xml/dynamics__test_8py.xml
+++ /dev/null
@@ -1,411 +0,0 @@
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- dynamics_test.py
- f110_gym::unittest::dynamics_test::DynamicsTest
- f110_gym::unittest::dynamics_test
-
-
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-""" Prototype Track Following Original Author: """ import as from import import import @njit(cache= True ) def accl_constraints(vel, """ if else : if and or and elif elif return @njit(cache= True ) def steering_constraint(steering_angle, """ if and or and elif elif return @njit(cache= True ) def vehicle_dynamics_ks(x, """ return @njit(cache= True ) def vehicle_dynamics_st(x, """ if else : return @njit(cache= True ) def pid(speed, """ return def func_KS(x, return def func_ST(x, return class [DynamicsTest](unittest.TestCase):def setUp(self): [mu][C_Sf][C_Sr][lf][lr][h][m][I][s_min][s_max][sv_min][sv_max][v_min][v_max][v_switch][a_max]def test_derivatives(self): [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max])[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max])for in [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max])def test_zeroinit_roll(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))def test_zeroinit_dec(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))def test_zeroinit_acc(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))def test_zeroinit_rollleft(self): from import [mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))[mu],[C_Sf],[C_Sr],[lf],[lr],[h],[m],[I],[s_min],[s_max],[sv_min],[sv_max],[v_switch],[a_max],[v_min],[v_max]))if '__main__' :
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diff --git a/docs/xml/envs_2____init_____8py.xml b/docs/xml/envs_2____init_____8py.xml
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index f379fa78..00000000
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diff --git a/docs/xml/f110__env_8py.xml b/docs/xml/f110__env_8py.xml
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-
-
-''' Author: ''' import from import from import from [f110_gym.envs.base_classes]import import as import import import pyglet.options[ 'debug_gl' ] False from import VIDEO_W VIDEO_H WINDOW_W WINDOW_H class [F110Env](gym.Env,""" 'render.modes' : 'human' , 'human_fast' ]} def __init__(self, try : 'seed' ]) except : pass try : [map_name]'map' ] if [map_name]'berlin' : [map_path]'/maps/berlin.yaml' elif [map_name]'skirk' : [map_path]'/maps/skirk.yaml' elif [map_name]'levine' : [map_path]'/maps/levine.yaml' else : [map_path][map_name]'.yaml' except : [map_path]'/maps/vegas.yaml' try : [map_ext]'map_ext' ] except : [map_ext]'.png' try : [params]'params' ] except : [params]'mu' : 'C_Sf' : 'C_Sr' : 'lf' : 'lr' : 'h' : 'm' : 'I' : 's_min' : 's_max' : 'sv_min' : 'sv_max' : 'v_switch' : 'a_max' : 'v_min' :-5.0, 'v_max' : 'width' : 'length' : try : [num_agents]'num_agents' ] except : [num_agents]try : [timestep]'timestep' ] except : [timestep]try : [ego_idx]'ego_idx' ] except : [ego_idx][start_thresh][poses_x][poses_y][poses_theta][collisions][num_agents],[near_start]True [num_toggles][lap_times][num_agents],[lap_counts][num_agents],[current_time][num_toggles][near_start]True [near_starts]True ]*self.[num_agents]) [toggle_list][num_agents],))[start_xs][num_agents],[start_ys][num_agents],[start_thetas][num_agents],[start_rot][sim][Simulator](self.[params],[num_agents])[sim].set_map(self.[map_path],[map_ext])[renderer]None [current_obs]None def [__del__](self):""" pass def _check_done(self): """ for in if and not True elif not and False if or return def _update_state(self, """ 'poses_x' ] 'poses_y' ] 'poses_theta' ] 'collisions' ] def [step](self,""" [step](action)'lap_times' ] 'lap_counts' ] 'checkpoint_done' : return def [reset](self,""" True True ]*self.num_agents) [reset](poses)return def [update_map](self,""" def [update_params](self,""" [update_params](params,def [render](self,""" assert in 'human' , 'human_fast' ] if is None : from [f110_gym.envs.rendering]import [update_map](self.map_name,if 'human' : elif 'human_fast' : pass
-
-
diff --git a/docs/xml/f110__env__backup_8py.xml b/docs/xml/f110__env__backup_8py.xml
deleted file mode 100644
index 7b59ab6e..00000000
--- a/docs/xml/f110__env__backup_8py.xml
+++ /dev/null
@@ -1,602 +0,0 @@
-
-
-
- f110_env_backup.py
- f110_gym::envs::f110_env_backup::F110Env
- f110_gym::envs::f110_env_backup
-
-
-
-
-
-''' Author: ''' import from import from import import import import as from import from import as from import import import import import import import import class [F110Env](gym.Env,""" 'render.modes' : def __init__(self): [params_set]False [map_inited]False [params][num_agents][timestep][map_path]None [map_img]None [ego_idx][timeout][start_thresh][x]None [y]None [theta]None [in_collision]False [collision_angle]None [near_start]True [num_toggles][lap_times][lap_counts][map_height][map_width][map_resolution][free_thresh][origin][port][context][socket][context].socket(zmq.PAIR)while try : [socket].bind('tcp://*:%s' [port]break except : 'Gym [port]))[sim_p]None def [__del__](self):""" if [sim_p]is None : pass else : [sim_p].pid,def _start_executable(self, [params][0][params][1][params][2][params][3][params][4][params][5][params][6]'sim_server' ,[timestep]),[num_agents]),[port]), [sim_p]def _set_map(self): """ if not [map_inited]:'Gym ) [map_img]/255.).flatten().tolist())[origin][0][origin][1][map_resolution][free_thresh][map_height][map_width][socket].send(map_request_string)[socket].recv()if 'Gym ) def _check_done(self): """ [current_time][timeout]if [double_finish]:[all_x])-self.[start_xs][all_y])-self.[start_ys][start_rot],for in [num_agents]):if and not [near_starts][i]:[near_starts][i]True [toggle_list][i]elif not and [near_starts][i]:[near_starts][i]False [toggle_list][i][in_collision][toggle_list][lap_counts][0][toggle_list][0][lap_counts][1][toggle_list][1]if [toggle_list][0][lap_times][0][current_time]if [toggle_list][1][lap_times][1][current_time]return [toggle_list][start_rot],[x]-self.[start_x],[y]-self.[start_y]]))if elif else : if and not [near_start]:[near_start]True [num_toggles]elif not and [near_start]:[near_start]False [num_toggles][in_collision][num_toggles]return def _check_passed(self): """ return def _update_state(self, """ [x]'poses_x' ][obs_dict[ 'ego_idx' ]] [y]'poses_y' ][obs_dict[ 'ego_idx' ]] if [double_finish]:[all_x]'poses_x' ] [all_y]'poses_y' ] [theta]'poses_theta' ][obs_dict[ 'ego_idx' ]] [in_collision]'collisions' ][obs_dict[ 'ego_idx' ]] [collision_angle]'collision_angles' ][obs_dict[ 'ego_idx' ]] def _raycast_opponents(self, return def step(self, if not [params_set]:'ERROR ) 'ego_idx' ] 'speed' ]) 'steer' ]) [socket].send(step_request_string)[socket].recv()if not 'Gym ) if not 'ego_idx' ]: 'Gym ) 'ego_idx' : 'scans' : 'poses_x' : 'poses_y' : 'poses_theta' : 'linear_vels_x' : 'linear_vels_y' : 'ang_vels_z' : 'collisions' : 'collision_angles' : 'lap_times' : 'lap_counts' : for in 'scans' ].append(car_obs.scan) 'poses_x' ].append(car_obs.pose_x) 'poses_y' ].append(car_obs.pose_y) if 'poses_theta' ].append(car_obs.theta) else : 'poses_theta' ].append(-((2 'linear_vels_x' ].append(car_obs.linear_vel_x) 'linear_vels_y' ].append(car_obs.linear_vel_y) 'ang_vels_z' ].append(car_obs.ang_vel_z) 'collisions' ].append(car_obs.collision) 'collision_angles' ].append(car_obs.collision_angle) 'lap_times' ][lap_times] 'lap_counts' ][lap_counts] [timestep][current_time][current_time][timestep][_update_state](obs)if [double_finish]:[_check_done]()'checkpoint_done' : else : [_check_done]()return def reset(self, [current_time][in_collision]False [collision_angles]None [num_toggles][near_start]True [near_starts]True ]*self.[num_agents]) [toggle_list][num_agents],))if 'x' ] 'y' ] 'theta' ] [start_x][start_y][start_theta][start_xs][start_ys][start_thetas][start_rot][start_theta]),[start_theta])],[start_theta]),[start_theta])]])[num_agents][socket].send(reset_request_string)else : [start_x][start_y][start_theta][start_rot][start_theta]),[start_theta])],[start_theta]),[start_theta])]])[num_agents][socket].send(reset_request_string)[socket].recv()if 'Gym ) return None [num_agents][num_agents]'ego_idx' :[ego_idx], 'speed' : 'steer' : [step](action)return def [init_map](self,""" [map_path]if not '.yaml' ): 'Gym ) 'Exiting...' ) [map_path])[0][map_img][map_img][map_img].astype(np.float64)if [map_img][map_img][::-1]if [map_img][map_img][...,[map_height][map_img].shape[0][map_width][map_img].shape[1][free_thresh]with [map_path],'r' ) as try : [map_resolution]'resolution' ] [origin]'origin' ] except as [map_inited]True def render(self, return def update_params(self, True if is None : if 'Gym ) return None
-
-
diff --git a/docs/xml/f110__gym_2____init_____8py.xml b/docs/xml/f110__gym_2____init_____8py.xml
deleted file mode 100644
index 60c6cb38..00000000
--- a/docs/xml/f110__gym_2____init_____8py.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-
-
-
- __init__.py
- f110_gym
-
-
-
-
-
-from import register( 'f110-v0' , 'f110_gym.envs:F110Env' ,
-
-
diff --git a/docs/xml/f110__gym_2envs_2____init_____8py.xml b/docs/xml/f110__gym_2envs_2____init_____8py.xml
deleted file mode 100644
index b4c45408..00000000
--- a/docs/xml/f110__gym_2envs_2____init_____8py.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-
-
-
- __init__.py
- f110_gym::envs
-
-
-
-
-
-from [f110_gym.envs.f110_env]import from [f110_gym.envs.dynamic_models]import from [f110_gym.envs.laser_models]import from [f110_gym.envs.base_classes]import from [f110_gym.envs.collision_models]import
-
-
diff --git a/docs/xml/f110__gym_2unittest_2____init_____8py.xml b/docs/xml/f110__gym_2unittest_2____init_____8py.xml
deleted file mode 100644
index 43b2b593..00000000
--- a/docs/xml/f110__gym_2unittest_2____init_____8py.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-
- __init__.py
- f110_gym::unittest
- gym::envs::unittest::scan_sim
-
-
-
-
-
-from [gym.envs.unittest.scan_sim]import
-
-
diff --git a/docs/xml/index.xml b/docs/xml/index.xml
deleted file mode 100644
index ac873c31..00000000
--- a/docs/xml/index.xml
+++ /dev/null
@@ -1,572 +0,0 @@
-
-
- f110_gym::unittest::pyglet_test_camera::App
- left right bottom top zoom_level zoomed_width zoomed_height __init__ init_gl on_resize on_mouse_drag on_mouse_scroll on_draw run f110_gym::unittest::pyglet_test::Camera
- _window _zoom scroll_speed max_zoom min_zoom offset_x offset_y __init__ zoom zoom position position move begin end __enter__ __exit__ f110_gym::unittest::pyglet_test::CenteredCamera
- begin end f110_gym::unittest::collision_checks::CollisionTests
- vertices1 length width setUp test_get_vert test_get_vert_fps test_random_collision test_fps f110_gym::envs::collision_models::CollisionTests
- vertices1 length width setUp test_get_vert test_get_vert_fps test_random_collision test_multiple_collisions test_fps f110_gym::envs::dynamic_models::DynamicsTest
- mu C_Sf C_Sr lf lr h m I s_min s_max sv_min sv_max v_min v_max v_switch a_max setUp test_derivatives test_zeroinit_roll test_zeroinit_dec test_zeroinit_acc test_zeroinit_rollleft f110_gym::unittest::dynamics_test::DynamicsTest
- mu C_Sf C_Sr lf lr h m I s_min s_max sv_min sv_max v_min v_max v_switch a_max setUp test_derivatives test_zeroinit_roll test_zeroinit_dec test_zeroinit_acc test_zeroinit_rollleft f110_gym::envs::rendering::EnvRenderer
- left right bottom top zoom_level zoomed_width zoomed_height batch map_points poses vertices score_label fps_display ego_idx cars __init__ update_map on_resize on_mouse_drag on_mouse_scroll on_close on_draw update_obs f110_gym::envs::f110_env_backup::F110Env
- metadata params_set map_inited params num_agents timestep map_path map_img ego_idx timeout start_thresh x y theta in_collision collision_angle near_start num_toggles lap_times lap_counts map_height map_width map_resolution free_thresh origin port context socket sim_p all_x all_y current_time collision_angles near_starts toggle_list start_x start_y start_theta start_xs start_ys start_thetas start_rot double_finish __init__ __del__ step reset init_map render update_params _start_executable _set_map _check_done _check_passed _update_state _raycast_opponents f110_gym::envs::f110_env::F110Env
- metadata map_name map_path map_ext params num_agents timestep ego_idx start_thresh poses_x poses_y poses_theta collisions near_start num_toggles lap_times lap_counts current_time near_starts toggle_list start_xs start_ys start_thetas start_rot sim renderer current_obs __init__ __del__ step reset update_map update_params render _check_done _update_state f110_gym::envs::base_classes::RaceCar
- params is_ego time_step num_beams fov state opp_poses accel steer_angle_vel steer_buffer steer_buffer_size in_collision ttc_thresh scan_simulator current_scan cosines scan_angles side_distances __init__ update_params set_map reset ray_cast_agents check_ttc update_pose update_opp_poses update_scan f110_gym::unittest::scan_sim::ScanSimulator2D
- num_beams fov std_dev eps theta_dis max_range angle_increment theta_index_increment orig_c orig_s orig_x orig_y map_height map_width map_resolution dt rng sines cosines map_img origin __init__ set_map scan get_increment f110_gym::envs::laser_models::ScanSimulator2D
- num_beams fov std_dev eps theta_dis max_range angle_increment theta_index_increment orig_c orig_s orig_x orig_y map_height map_width map_resolution dt rng sines cosines map_img origin __init__ set_map scan get_increment f110_gym::unittest::scan_sim::ScanTests
- num_beams fov num_test test_poses berlin_scan skirk_scan setUp test_map_berlin test_map_skirk test_fps f110_gym::envs::laser_models::ScanTests
- num_beams fov num_test test_poses berlin_scan skirk_scan setUp test_map_berlin test_map_skirk test_fps f110_gym::envs::base_classes::Simulator
- num_agents time_step ego_idx params agent_poses agents collisions collision_idx __init__ set_map update_params check_collision step reset f110_gym
- id entry_point f110_gym::envs
- f110_gym::envs::base_classes
- f110_gym::envs::collision_models
- cache perpendicular tripleProduct avgPoint indexOfFurthestPoint support collision collision_multiple get_trmtx get_vertices f110_gym::envs::dynamic_models
- cache accl_constraints steering_constraint vehicle_dynamics_ks vehicle_dynamics_st pid func_KS func_ST f110_gym::envs::f110_env
- VIDEO_W VIDEO_H WINDOW_W WINDOW_H f110_gym::envs::f110_env_backup
- f110_gym::envs::laser_models
- get_dt xy_2_rc distance_transform trace_ray get_scan check_ttc_jit cross are_collinear get_range ray_cast main f110_gym::envs::rendering
- ZOOM_IN_FACTOR ZOOM_OUT_FACTOR CAR_LENGTH CAR_WIDTH f110_gym::unittest
- f110_gym::unittest::collision_checks
- cache perpendicular tripleProduct avgPoint indexOfFurthestPoint support collision get_trmtx get_vertices f110_gym::unittest::dynamics_test
- cache accl_constraints steering_constraint vehicle_dynamics_ks vehicle_dynamics_st pid func_KS func_ST f110_gym::unittest::legacy_scan_gen
- thetas executable_dir mass l_r I_z mu h_cg cs_f cs_r num_test test_poses num map_path map_ext racecar_env double_finish vegas_scan x y theta obs _ berlin_scan skirk_scan vegas berlin skirk f110_gym::unittest::pyglet_test
- parser type str required True help args map_metada map_resolution origin origin_x origin_y map_img map_height map_width range_x range_y map_x map_y map_z map_coords map_mask map_mask_flat map_points config window cam batch points particle on_resize loop on_draw f110_gym::unittest::pyglet_test_camera
- ZOOM_IN_FACTOR ZOOM_OUT_FACTOR f110_gym::unittest::random_trackgen
- parser type int default help args NUM_MAPS WIDTH track track_int track_ext create_track convert_track f110_gym::unittest::scan_sim
- get_dt xy_2_rc distance_transform trace_ray get_scan main gym::envs::unittest::scan_sim
- pyglet::gl
- __init__.py
- __init__.py
- __init__.py
- base_classes.py
- collision_models.py
- dynamic_models.py
- f110_env.py
- f110_env_backup.py
- laser_models.py
- rendering.py
- collision_checks.py
- dynamics_test.py
- legacy_scan_gen.py
- pyglet_test.py
- pyglet_test_camera.py
- random_trackgen.py
- scan_sim.py
- /home/billyzheng/f1tenth_gym/gym/f110_gym/envs
- /home/billyzheng/f1tenth_gym/gym/f110_gym
- /home/billyzheng/f1tenth_gym/gym
- /home/billyzheng/f1tenth_gym/gym/f110_gym/unittest
-
diff --git a/docs/xml/index.xsd b/docs/xml/index.xsd
deleted file mode 100644
index 04cb2f13..00000000
--- a/docs/xml/index.xsd
+++ /dev/null
@@ -1,67 +0,0 @@
-
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diff --git a/docs/xml/laser__models_8py.xml b/docs/xml/laser__models_8py.xml
deleted file mode 100644
index a339a27b..00000000
--- a/docs/xml/laser__models_8py.xml
+++ /dev/null
@@ -1,596 +0,0 @@
-
-
-
- laser_models.py
- f110_gym::envs::laser_models::ScanSimulator2D
- f110_gym::envs::laser_models::ScanTests
- f110_gym::envs::laser_models
-
-
-
-
-
-""" Prototype Author: """ import as from import from import as from import import import import import def get_dt(bitmap, """ return @njit(cache= True ) def xy_2_rc(x, """ if or or or else : return @njit(cache= True ) def distance_transform(x, """ return @njit(cache= True ) def trace_ray(x, """ while and if return @njit(cache= True ) def get_scan(pose, """ while for in while return @njit(cache= True ) def check_ttc_jit(scan, """ if for in if and True break else : False return @njit(cache= True ) def cross(v1, """ return @njit(cache= True ) def are_collinear(pt_a, """ return @njit(cache= True ) def get_range(pose, """ if if and and elif return @njit(cache= True ) def ray_cast(pose, """ for in for in if return class [ScanSimulator2D](object):""" def __init__(self, [num_beams][fov][std_dev][eps][theta_dis][max_range][angle_increment][fov][num_beams][theta_index_increment][angle_increment][orig_c]None [orig_s]None [orig_x]None [orig_y]None [map_height]None [map_width]None [map_resolution]None [dt]None [rng][sines][cosines]def [set_map](self,""" [map_img][map_img][map_img].astype(np.float64)[map_img][self.[map_img][map_img][self.[map_img][map_height][map_img].shape[0][map_width][map_img].shape[1]with 'r' ) as try : [map_resolution]'resolution' ] [origin]'origin' ] except as [orig_x][origin][0][orig_y][origin][1][orig_s][origin][2])[orig_c][origin][2])[dt][map_img],[map_resolution])return True def [scan](self,""" if [map_height]is None : raise 'Map ) [theta_dis],[fov],[num_beams],[theta_index_increment],[sines],[cosines],[eps],[orig_x],[orig_y],[orig_c],[orig_s],[map_height],[map_width],[map_resolution],[dt],[max_range])[rng].normal(0.,[std_dev],[num_beams])return def get_increment(self): return [angle_increment]""" Unit Author: Test """ class [ScanTests](unittest.TestCase):def setUp(self): [num_beams][fov][num_test][test_poses][num_test],[test_poses][:,[num_test])'legacy_scan.npz' ) [berlin_scan]'berlin' ] [skirk_scan]'skirk' ] def test_map_berlin(self): [ScanSimulator2D](self.[num_beams],[fov])[num_test],[num_beams]))'../../../maps/berlin.yaml' '.png' for in [num_test]):[test_poses][i][berlin_scan]import as [fov]/2.,[fov]/2.,[num_beams])'.' , [berlin_scan][1,:],'.' , def test_map_skirk(self): [ScanSimulator2D](self.[num_beams],[fov])[num_test],[num_beams]))'../../../maps/skirk.yaml' '.png' 'map ) for in [num_test]):[test_poses][i][skirk_scan]'skirk import as [fov]/2.,[fov]/2.,[num_beams])'.' , [skirk_scan][1,:],'.' , def test_fps(self): [ScanSimulator2D](self.[num_beams],[fov])'../../../maps/skirk.yaml' '.png' import for in def main(): '/home/f1tenth-eval/tunercar/es/maps/map0.yaml' '.png' [ScanSimulator2D](num_beams,import for in 'FPS ) 'Elapsed ' import as from import 'polar' ) '.' , def update(i): return True ) if '__main__' :
-
-
diff --git a/docs/xml/legacy__scan__gen_8py.xml b/docs/xml/legacy__scan__gen_8py.xml
deleted file mode 100644
index 35fcecee..00000000
--- a/docs/xml/legacy__scan__gen_8py.xml
+++ /dev/null
@@ -1,116 +0,0 @@
-
-
-
- legacy_scan_gen.py
- f110_gym::unittest::legacy_scan_gen
-
-
-
-
-
-""" Utility Author: The Map Map Map """ import as import import as thetas executable_dir '../../../build/' mass= l_r I_z mu h_cg cs_f cs_r num_test test_poses test_poses[:, map_path '../../../maps/vegas.yaml' map_ext '.png' racecar_env 'f110_gym:f110-v0' ) racecar_env.init_map(map_path, False , False ) racecar_env.update_params(mu, True ) vegas_scan for in 'x' : 'y' : 'theta' : 'scans' ][0] map_path '../../../maps/berlin.yaml' map_ext '.png' racecar_env 'f110_gym:f110-v0' ) racecar_env.init_map(map_path, False , False ) racecar_env.update_params(mu, True ) berlin_scan for in 'x' : 'y' : 'theta' : 'scans' ][0] map_path '../../../maps/skirk.yaml' map_ext '.png' racecar_env 'f110_gym:f110-v0' ) racecar_env.init_map(map_path, False , False ) racecar_env.update_params(mu, True ) skirk_scan for in 'x' : 'y' : 'theta' : 'scans' ][0] np.savez_compressed( 'legacy_scan.npz' ,
-
-
diff --git a/docs/xml/namespacef110__gym.xml b/docs/xml/namespacef110__gym.xml
deleted file mode 100644
index 24c2de95..00000000
--- a/docs/xml/namespacef110__gym.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-
-
-
- f110_gym
- f110_gym::envs
- f110_gym::unittest
-
-
- f110_gym.id
- id
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-
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-
-
-
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- f110_gym.entry_point
- entry_point
-
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diff --git a/docs/xml/namespacef110__gym_1_1envs.xml b/docs/xml/namespacef110__gym_1_1envs.xml
deleted file mode 100644
index 38c8b891..00000000
--- a/docs/xml/namespacef110__gym_1_1envs.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
- f110_gym::envs
- f110_gym::envs::base_classes
- f110_gym::envs::collision_models
- f110_gym::envs::dynamic_models
- f110_gym::envs::f110_env
- f110_gym::envs::f110_env_backup
- f110_gym::envs::laser_models
- f110_gym::envs::rendering
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1envs_1_1base__classes.xml b/docs/xml/namespacef110__gym_1_1envs_1_1base__classes.xml
deleted file mode 100644
index 42a5c630..00000000
--- a/docs/xml/namespacef110__gym_1_1envs_1_1base__classes.xml
+++ /dev/null
@@ -1,13 +0,0 @@
-
-
-
- f110_gym::envs::base_classes
- f110_gym::envs::base_classes::RaceCar
- f110_gym::envs::base_classes::Simulator
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1envs_1_1collision__models.xml b/docs/xml/namespacef110__gym_1_1envs_1_1collision__models.xml
deleted file mode 100644
index dd847980..00000000
--- a/docs/xml/namespacef110__gym_1_1envs_1_1collision__models.xml
+++ /dev/null
@@ -1,292 +0,0 @@
-
-
-
- f110_gym::envs::collision_models
- f110_gym::envs::collision_models::CollisionTests
-
-
- f110_gym::envs::collision_models.cache
- cache
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.perpendicular
- (pt)
- perpendicular
- pt
- pt
-
-
-
-
-Return a 2-vector's perpendicular vector
-
-Args:
- pt (np.ndarray, (2,)): input vector
-
-Returns:
- pt (np.ndarray, (2,)): perpendicular vector
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.tripleProduct
- (a, b, c)
- tripleProduct
- a
- a
-
- b
- b
-
- c
- c
-
-
-
-
-Return triple product of three vectors
-
-Args:
- a, b, c (np.ndarray, (2,)): input vectors
-
-Returns:
- (np.ndarray, (2,)): triple product
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.avgPoint
- (vertices)
- avgPoint
- vertices
- vertices
-
-
-
-
-Return the average point of multiple vertices
-
-Args:
- vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
-
-Returns:
- avg (np.ndarray, (2,)): average point of the vertices
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.indexOfFurthestPoint
- (vertices, d)
- indexOfFurthestPoint
- vertices
- vertices
-
- d
- d
-
-
-
-
-Return the index of the vertex furthest away along a direction in the list of vertices
-
-Args:
- vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
-
-Returns:
- idx (int): index of the furthest point
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.support
- (vertices1, vertices2, d)
- support
- vertices1
- vertices1
-
- vertices2
- vertices2
-
- d
- d
-
-
-
-
-Minkowski sum support function for GJK
-
-Args:
- vertices1 (np.ndarray, (n, 2)): vertices of the first body
- vertices2 (np.ndarray, (n, 2)): vertices of the second body
- d (np.ndarray, (2, )): direction to find the support along
-
-Returns:
- support (np.ndarray, (n, 2)): Minkowski sum
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.collision
- (vertices1, vertices2)
- collision
- vertices1
- vertices1
-
- vertices2
- vertices2
-
-
-
-
-GJK test to see whether two bodies overlap
-
-Args:
- vertices1 (np.ndarray, (n, 2)): vertices of the first body
- vertices2 (np.ndarray, (n, 2)): vertices of the second body
-
-Returns:
- overlap (boolean): True if two bodies collide
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.collision_multiple
- (vertices)
- collision_multiple
- vertices
- vertices
-
-
-
-
-Check pair-wise collisions for all provided vertices
-
-Args:
- vertices (np.ndarray (num_bodies, 4, 2)): all vertices for checking pair-wise collision
-
-Returns:
- collisions (np.ndarray (num_vertices, )): whether each body is in collision
- collision_idx (np.ndarray (num_vertices, )): which index of other body is each index's body is in collision, -1 if not in collision
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.get_trmtx
- (pose)
- get_trmtx
- pose
- pose
-
-
-
-
-Get transformation matrix of vehicle frame -> global frame
-
-Args:
- pose (np.ndarray (3, )): current pose of the vehicle
-
-return:
- H (np.ndarray (4, 4)): transformation matrix
-
-
-
-
-
- def
- def f110_gym.envs.collision_models.get_vertices
- (pose, length, width)
- get_vertices
- pose
- pose
-
- length
- length
-
- width
- width
-
-
-
-
-Utility function to return vertices of the car body given pose and size
-
-Args:
- pose (np.ndarray, (3, )): current world coordinate pose of the vehicle
- length (float): car length
- width (float): car width
-
-Returns:
- vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1envs_1_1dynamic__models.xml b/docs/xml/namespacef110__gym_1_1envs_1_1dynamic__models.xml
deleted file mode 100644
index ef796cc2..00000000
--- a/docs/xml/namespacef110__gym_1_1envs_1_1dynamic__models.xml
+++ /dev/null
@@ -1,566 +0,0 @@
-
-
-
- f110_gym::envs::dynamic_models
- f110_gym::envs::dynamic_models::DynamicsTest
-
-
- f110_gym::envs::dynamic_models.cache
- cache
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.accl_constraints
- (vel, accl, v_switch, a_max, v_min, v_max)
- accl_constraints
- vel
- vel
-
- accl
- accl
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-Acceleration constraints, adjusts the acceleration based on constraints
-
- Args:
- vel (float): current velocity of the vehicle
- accl (float): unconstraint desired acceleration
- v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
- a_max (float): maximum allowed acceleration
- v_min (float): minimum allowed velocity
- v_max (float): maximum allowed velocity
-
- Returns:
- accl (float): adjusted acceleration
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.steering_constraint
- (steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max)
- steering_constraint
- steering_angle
- steering_angle
-
- steering_velocity
- steering_velocity
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
-
-
-
-Steering constraints, adjusts the steering velocity based on constraints
-
- Args:
- steering_angle (float): current steering_angle of the vehicle
- steering_velocity (float): unconstraint desired steering_velocity
- s_min (float): minimum steering angle
- s_max (float): maximum steering angle
- sv_min (float): minimum steering velocity
- sv_max (float): maximum steering velocity
-
- Returns:
- steering_velocity (float): adjusted steering velocity
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.vehicle_dynamics_ks
- (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- vehicle_dynamics_ks
- x
- x
-
- u_init
- u_init
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-Single Track Kinematic Vehicle Dynamics.
-
- Args:
- x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5)
- x1: x position in global coordinates
- x2: y position in global coordinates
- x3: steering angle of front wheels
- x4: velocity in x direction
- x5: yaw angle
- u (numpy.ndarray (2, )): control input vector (u1, u2)
- u1: steering angle velocity of front wheels
- u2: longitudinal acceleration
-
- Returns:
- f (numpy.ndarray): right hand side of differential equations
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.vehicle_dynamics_st
- (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- vehicle_dynamics_st
- x
- x
-
- u_init
- u_init
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-Single Track Dynamic Vehicle Dynamics.
-
- Args:
- x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5, x6, x7)
- x1: x position in global coordinates
- x2: y position in global coordinates
- x3: steering angle of front wheels
- x4: velocity in x direction
- x5: yaw angle
- x6: yaw rate
- x7: slip angle at vehicle center
- u (numpy.ndarray (2, )): control input vector (u1, u2)
- u1: steering angle velocity of front wheels
- u2: longitudinal acceleration
-
- Returns:
- f (numpy.ndarray): right hand side of differential equations
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.pid
- (speed, steer, current_speed, current_steer, max_sv, max_a, max_v, min_v)
- pid
- speed
- speed
-
- steer
- steer
-
- current_speed
- current_speed
-
- current_steer
- current_steer
-
- max_sv
- max_sv
-
- max_a
- max_a
-
- max_v
- max_v
-
- min_v
- min_v
-
-
-
-
-Basic controller for speed/steer -> accl./steer vel.
-
- Args:
- speed (float): desired input speed
- steer (float): desired input steering angle
-
- Returns:
- accl (float): desired input acceleration
- sv (float): desired input steering velocity
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.func_KS
- (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- func_KS
- x
- x
-
- t
- t
-
- u
- u
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.envs.dynamic_models.func_ST
- (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- func_ST
- x
- x
-
- t
- t
-
- u
- u
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1envs_1_1f110__env.xml b/docs/xml/namespacef110__gym_1_1envs_1_1f110__env.xml
deleted file mode 100644
index 8988d293..00000000
--- a/docs/xml/namespacef110__gym_1_1envs_1_1f110__env.xml
+++ /dev/null
@@ -1,70 +0,0 @@
-
-
-
- f110_gym::envs::f110_env
- f110_gym::envs::f110_env::F110Env
-
-
- int
- int f110_gym::envs::f110_env.VIDEO_W
- VIDEO_W
- = 600
-
-
-
-
-
-
-
-
- int
- int f110_gym::envs::f110_env.VIDEO_H
- VIDEO_H
- = 400
-
-
-
-
-
-
-
-
- int
- int f110_gym::envs::f110_env.WINDOW_W
- WINDOW_W
- = 1000
-
-
-
-
-
-
-
-
- int
- int f110_gym::envs::f110_env.WINDOW_H
- WINDOW_H
- = 800
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1envs_1_1f110__env__backup.xml b/docs/xml/namespacef110__gym_1_1envs_1_1f110__env__backup.xml
deleted file mode 100644
index d8f723c9..00000000
--- a/docs/xml/namespacef110__gym_1_1envs_1_1f110__env__backup.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-
-
-
- f110_gym::envs::f110_env_backup
- f110_gym::envs::f110_env_backup::F110Env
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1envs_1_1laser__models.xml b/docs/xml/namespacef110__gym_1_1envs_1_1laser__models.xml
deleted file mode 100644
index f957991a..00000000
--- a/docs/xml/namespacef110__gym_1_1envs_1_1laser__models.xml
+++ /dev/null
@@ -1,555 +0,0 @@
-
-
-
- f110_gym::envs::laser_models
- f110_gym::envs::laser_models::ScanSimulator2D
- f110_gym::envs::laser_models::ScanTests
-
-
- def
- def f110_gym.envs.laser_models.get_dt
- (bitmap, resolution)
- get_dt
- bitmap
- bitmap
-
- resolution
- resolution
-
-
-
-
-Distance transformation, returns the distance matrix from the input bitmap.
-Uses scipy.ndimage, cannot be JITted.
-
- Args:
- bitmap (numpy.ndarray, (n, m)): input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace
- resolution (float): resolution of the input bitmap (m/cell)
-
- Returns:
- dt (numpy.ndarray, (n, m)): output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.xy_2_rc
- (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution)
- xy_2_rc
- x
- x
-
- y
- y
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
-
-
-
-Translate (x, y) coordinate into (r, c) in the matrix
-
- Args:
- x (float): coordinate in x (m)
- y (float): coordinate in y (m)
- orig_x (float): x coordinate of the map origin (m)
- orig_y (float): y coordinate of the map origin (m)
-
- Returns:
- r (int): row number in the transform matrix of the given point
- c (int): column number in the transform matrix of the given point
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.distance_transform
- (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt)
- distance_transform
- x
- x
-
- y
- y
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
- dt
- dt
-
-
-
-
-Look up corresponding distance in the distance matrix
-
- Args:
- x (float): x coordinate of the lookup point
- y (float): y coordinate of the lookup point
- orig_x (float): x coordinate of the map origin (m)
- orig_y (float): y coordinate of the map origin (m)
-
- Returns:
- distance (float): corresponding shortest distance to obstacle in meters
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.trace_ray
- (x, y, theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range)
- trace_ray
- x
- x
-
- y
- y
-
- theta_index
- theta_index
-
- sines
- sines
-
- cosines
- cosines
-
- eps
- eps
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
- dt
- dt
-
- max_range
- max_range
-
-
-
-
-Find the length of a specific ray at a specific scan angle theta
-Purely math calculation and loops, should be JITted.
-
- Args:
- x (float): current x coordinate of the ego (scan) frame
- y (float): current y coordinate of the ego (scan) frame
- theta_index(int): current index of the scan beam in the scan range
- sines (numpy.ndarray (n, )): pre-calculated sines of the angle array
- cosines (numpy.ndarray (n, )): pre-calculated cosines ...
-
- Returns:
- total_distance (float): the distance to first obstacle on the current scan beam
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.get_scan
- (pose, theta_dis, fov, num_beams, theta_index_increment, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range)
- get_scan
- pose
- pose
-
- theta_dis
- theta_dis
-
- fov
- fov
-
- num_beams
- num_beams
-
- theta_index_increment
- theta_index_increment
-
- sines
- sines
-
- cosines
- cosines
-
- eps
- eps
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
- dt
- dt
-
- max_range
- max_range
-
-
-
-
-Perform the scan for each discretized angle of each beam of the laser, loop heavy, should be JITted
-
- Args:
- pose (numpy.ndarray(3, )): current pose of the scan frame in the map
- theta_dis (int): number of steps to discretize the angles between 0 and 2pi for look up
- fov (float): field of view of the laser scan
- num_beams (int): number of beams in the scan
- theta_index_increment (float): increment between angle indices after discretization
-
- Returns:
- scan (numpy.ndarray(n, )): resulting laser scan at the pose, n=num_beams
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.check_ttc_jit
- (scan, vel, scan_angles, cosines, side_distances, ttc_thresh)
- check_ttc_jit
- scan
- scan
-
- vel
- vel
-
- scan_angles
- scan_angles
-
- cosines
- cosines
-
- side_distances
- side_distances
-
- ttc_thresh
- ttc_thresh
-
-
-
-
-Checks the iTTC of each beam in a scan for collision with environment
-
-Args:
- scan (np.ndarray(num_beams, )): current scan to check
- vel (float): current velocity
- scan_angles (np.ndarray(num_beams, )): precomped angles of each beam
- cosines (np.ndarray(num_beams, )): precomped cosines of the scan angles
- side_distances (np.ndarray(num_beams, )): precomped distances at each beam from the laser to the sides of the car
- ttc_thresh (float): threshold for iTTC for collision
-
-Returns:
- in_collision (bool): whether vehicle is in collision with environment
- collision_angle (float): at which angle the collision happened
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.cross
- (v1, v2)
- cross
- v1
- v1
-
- v2
- v2
-
-
-
-
-Cross product of two 2-vectors
-
-Args:
- v1, v2 (np.ndarray(2, )): input vectors
-
-Returns:
- crossproduct (float): cross product
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.are_collinear
- (pt_a, pt_b, pt_c)
- are_collinear
- pt_a
- pt_a
-
- pt_b
- pt_b
-
- pt_c
- pt_c
-
-
-
-
-Checks if three points are collinear in 2D
-
-Args:
- pt_a, pt_b, pt_c (np.ndarray(2, )): points to check in 2D
-
-Returns:
- col (bool): whether three points are collinear
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.get_range
- (pose, beam_theta, va, vb)
- get_range
- pose
- pose
-
- beam_theta
- beam_theta
-
- va
- va
-
- vb
- vb
-
-
-
-
-Get the distance at a beam angle to the vector formed by two of the four vertices of a vehicle
-
-Args:
- pose (np.ndarray(3, )): pose of the scanning vehicle
- beam_theta (float): angle of the current beam (world frame)
- va, vb (np.ndarray(2, )): the two vertices forming an edge
-
-Returns:
- distance (float): smallest distance at beam theta from scanning pose to edge
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.ray_cast
- (pose, scan, scan_angles, vertices)
- ray_cast
- pose
- pose
-
- scan
- scan
-
- scan_angles
- scan_angles
-
- vertices
- vertices
-
-
-
-
-Modify a scan by ray casting onto another agent's four vertices
-
-Args:
- pose (np.ndarray(3, )): pose of the vehicle performing scan
- scan (np.ndarray(num_beams, )): original scan to modify
- scan_angles (np.ndarray(num_beams, )): corresponding beam angles
- vertices (np.ndarray(4, 2)): four vertices of a vehicle pose
-
-Returns:
- new_scan (np.ndarray(num_beams, )): modified scan
-
-
-
-
-
- def
- def f110_gym.envs.laser_models.main
- ()
- main
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1envs_1_1rendering.xml b/docs/xml/namespacef110__gym_1_1envs_1_1rendering.xml
deleted file mode 100644
index f29085fc..00000000
--- a/docs/xml/namespacef110__gym_1_1envs_1_1rendering.xml
+++ /dev/null
@@ -1,70 +0,0 @@
-
-
-
- f110_gym::envs::rendering
- f110_gym::envs::rendering::EnvRenderer
-
-
- float
- float f110_gym::envs::rendering.ZOOM_IN_FACTOR
- ZOOM_IN_FACTOR
- = 1.2
-
-
-
-
-
-
-
-
- int
- int f110_gym::envs::rendering.ZOOM_OUT_FACTOR
- ZOOM_OUT_FACTOR
- = 1/ZOOM_IN_FACTOR
-
-
-
-
-
-
-
-
- float
- float f110_gym::envs::rendering.CAR_LENGTH
- CAR_LENGTH
- = 0.58
-
-
-
-
-
-
-
-
- float
- float f110_gym::envs::rendering.CAR_WIDTH
- CAR_WIDTH
- = 0.31
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest.xml b/docs/xml/namespacef110__gym_1_1unittest.xml
deleted file mode 100644
index 0c08ffdf..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-
-
-
- f110_gym::unittest
- f110_gym::unittest::collision_checks
- f110_gym::unittest::dynamics_test
- f110_gym::unittest::legacy_scan_gen
- f110_gym::unittest::pyglet_test
- f110_gym::unittest::pyglet_test_camera
- f110_gym::unittest::random_trackgen
- f110_gym::unittest::scan_sim
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest_1_1collision__checks.xml b/docs/xml/namespacef110__gym_1_1unittest_1_1collision__checks.xml
deleted file mode 100644
index e8ac1328..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest_1_1collision__checks.xml
+++ /dev/null
@@ -1,266 +0,0 @@
-
-
-
- f110_gym::unittest::collision_checks
- f110_gym::unittest::collision_checks::CollisionTests
-
-
- f110_gym::unittest::collision_checks.cache
- cache
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.perpendicular
- (pt)
- perpendicular
- pt
- pt
-
-
-
-
-Return a 2-vector's perpendicular vector
-
-Args:
- pt (np.ndarray, (2,)): input vector
-
-Returns:
- pt (np.ndarray, (2,)): perpendicular vector
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.tripleProduct
- (a, b, c)
- tripleProduct
- a
- a
-
- b
- b
-
- c
- c
-
-
-
-
-Return triple product of three vectors
-
-Args:
- a, b, c (np.ndarray, (2,)): input vectors
-
-Returns:
- (np.ndarray, (2,)): triple product
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.avgPoint
- (vertices)
- avgPoint
- vertices
- vertices
-
-
-
-
-Return the average point of multiple vertices
-
-Args:
- vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
-
-Returns:
- avg (np.ndarray, (2,)): average point of the vertices
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.indexOfFurthestPoint
- (vertices, d)
- indexOfFurthestPoint
- vertices
- vertices
-
- d
- d
-
-
-
-
-Return the index of the vertex furthest away along a direction in the list of vertices
-
-Args:
- vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
-
-Returns:
- idx (int): index of the furthest point
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.support
- (vertices1, vertices2, d)
- support
- vertices1
- vertices1
-
- vertices2
- vertices2
-
- d
- d
-
-
-
-
-Minkowski sum support function for GJK
-
-Args:
- vertices1 (np.ndarray, (n, 2)): vertices of the first body
- vertices2 (np.ndarray, (n, 2)): vertices of the second body
- d (np.ndarray, (2, )): direction to find the support along
-
-Returns:
- support (np.ndarray, (n, 2)): Minkowski sum
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.collision
- (vertices1, vertices2)
- collision
- vertices1
- vertices1
-
- vertices2
- vertices2
-
-
-
-
-GJK test to see whether two bodies overlap
-
-Args:
- vertices1 (np.ndarray, (n, 2)): vertices of the first body
- vertices2 (np.ndarray, (n, 2)): vertices of the second body
-
-Returns:
- overlap (boolean): True if two bodies collide
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.get_trmtx
- (pose)
- get_trmtx
- pose
- pose
-
-
-
-
-Get transformation matrix of vehicle frame -> global frame
-
-Args:
- pose (np.ndarray (3, )): current pose of the vehicle
-
-return:
- H (np.ndarray (4, 4)): transformation matrix
-
-
-
-
-
- def
- def f110_gym.unittest.collision_checks.get_vertices
- (pose, length, width)
- get_vertices
- pose
- pose
-
- length
- length
-
- width
- width
-
-
-
-
-Utility function to return vertices of the car body given pose and size
-
-Args:
- pose (np.ndarray, (3, )): current world coordinate pose of the vehicle
- length (float): car length
- width (float): car width
-
-Returns:
- vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest_1_1dynamics__test.xml b/docs/xml/namespacef110__gym_1_1unittest_1_1dynamics__test.xml
deleted file mode 100644
index b45d2ef7..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest_1_1dynamics__test.xml
+++ /dev/null
@@ -1,542 +0,0 @@
-
-
-
- f110_gym::unittest::dynamics_test
- f110_gym::unittest::dynamics_test::DynamicsTest
-
-
- f110_gym::unittest::dynamics_test.cache
- cache
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.accl_constraints
- (vel, accl, v_switch, a_max, v_min, v_max)
- accl_constraints
- vel
- vel
-
- accl
- accl
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-Acceleration constraints, adjusts the acceleration based on constraints
-
- Args:
- vel (float): current velocity of the vehicle
- accl (float): unconstraint desired acceleration
- v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
- a_max (float): maximum allowed acceleration
- v_min (float): minimum allowed velocity
- v_max (float): maximum allowed velocity
-
- Returns:
- accl (float): adjusted acceleration
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.steering_constraint
- (steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max)
- steering_constraint
- steering_angle
- steering_angle
-
- steering_velocity
- steering_velocity
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
-
-
-
-Steering constraints, adjusts the steering velocity based on constraints
-
- Args:
- steering_angle (float): current steering_angle of the vehicle
- steering_velocity (float): unconstraint desired steering_velocity
- s_min (float): minimum steering angle
- s_max (float): maximum steering angle
- sv_min (float): minimum steering velocity
- sv_max (float): maximum steering velocity
-
- Returns:
- steering_velocity (float): adjusted steering velocity
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.vehicle_dynamics_ks
- (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- vehicle_dynamics_ks
- x
- x
-
- u_init
- u_init
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-Single Track Kinematic Vehicle Dynamics.
-
- Args:
- x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5)
- x1: x position in global coordinates
- x2: y position in global coordinates
- x3: steering angle of front wheels
- x4: velocity in x direction
- x5: yaw angle
- u (numpy.ndarray (2, )): control input vector (u1, u2)
- u1: steering angle velocity of front wheels
- u2: longitudinal acceleration
-
- Returns:
- f (numpy.ndarray): right hand side of differential equations
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.vehicle_dynamics_st
- (x, u_init, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- vehicle_dynamics_st
- x
- x
-
- u_init
- u_init
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-Single Track Dynamic Vehicle Dynamics.
-
- Args:
- x (numpy.ndarray (3, )): vehicle state vector (x1, x2, x3, x4, x5, x6, x7)
- x1: x position in global coordinates
- x2: y position in global coordinates
- x3: steering angle of front wheels
- x4: velocity in x direction
- x5: yaw angle
- x6: yaw rate
- x7: slip angle at vehicle center
- u (numpy.ndarray (2, )): control input vector (u1, u2)
- u1: steering angle velocity of front wheels
- u2: longitudinal acceleration
-
- Returns:
- f (numpy.ndarray): right hand side of differential equations
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.pid
- (speed, steer)
- pid
- speed
- speed
-
- steer
- steer
-
-
-
-
-Basic controller for speed/steer -> accl./steer vel.
-
- Args:
- speed (float): desired input speed
- steer (float): desired input steering angle
-
- Returns:
- accl (float): desired input acceleration
- sv (float): desired input steering velocity
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.func_KS
- (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- func_KS
- x
- x
-
- t
- t
-
- u
- u
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.dynamics_test.func_ST
- (x, t, u, mu, C_Sf, C_Sr, lf, lr, h, m, I, s_min, s_max, sv_min, sv_max, v_switch, a_max, v_min, v_max)
- func_ST
- x
- x
-
- t
- t
-
- u
- u
-
- mu
- mu
-
- C_Sf
- C_Sf
-
- C_Sr
- C_Sr
-
- lf
- lf
-
- lr
- lr
-
- h
- h
-
- m
- m
-
- I
- I
-
- s_min
- s_min
-
- s_max
- s_max
-
- sv_min
- sv_min
-
- sv_max
- sv_max
-
- v_switch
- v_switch
-
- a_max
- a_max
-
- v_min
- v_min
-
- v_max
- v_max
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest_1_1legacy__scan__gen.xml b/docs/xml/namespacef110__gym_1_1unittest_1_1legacy__scan__gen.xml
deleted file mode 100644
index daf5a58e..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest_1_1legacy__scan__gen.xml
+++ /dev/null
@@ -1,384 +0,0 @@
-
-
-
- f110_gym::unittest::legacy_scan_gen
-
-
- f110_gym::unittest::legacy_scan_gen.thetas
- thetas
- = np.linspace(-2.35, 2.35, num=1080)
-
-
-
-
-
-
-
-
- string
- f110_gym::unittest::legacy_scan_gen.executable_dir
- executable_dir
- = '../../../build/'
-
-
-
-
-
-
-
-
- float
- f110_gym::unittest::legacy_scan_gen.mass
- mass
- = 3.74
-
-
-
-
-
-
-
-
- float
- f110_gym::unittest::legacy_scan_gen.l_r
- l_r
- = 0.17145
-
-
-
-
-
-
-
-
- float
- f110_gym::unittest::legacy_scan_gen.I_z
- I_z
- = 0.04712
-
-
-
-
-
-
-
-
- float
- f110_gym::unittest::legacy_scan_gen.mu
- mu
- = 0.523
-
-
-
-
-
-
-
-
- float
- f110_gym::unittest::legacy_scan_gen.h_cg
- h_cg
- = 0.074
-
-
-
-
-
-
-
-
- float
- f110_gym::unittest::legacy_scan_gen.cs_f
- cs_f
- = 4.718
-
-
-
-
-
-
-
-
- float
- f110_gym::unittest::legacy_scan_gen.cs_r
- cs_r
- = 5.4562
-
-
-
-
-
-
-
-
- int
- int f110_gym::unittest::legacy_scan_gen.num_test
- num_test
- = 10
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.test_poses
- test_poses
- = np.zeros((num_test, 3))
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.num
- num
-
-
-
-
-
-
-
-
- string
- string f110_gym::unittest::legacy_scan_gen::map_path
- map_path
- = '../../../maps/vegas.yaml'
-
-
-
-
-
-
-
-
- string
- string f110_gym::unittest::legacy_scan_gen::map_ext
- map_ext
- = '.png'
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.racecar_env
- racecar_env
- = gym.make('f110_gym:f110-v0')
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.double_finish
- double_finish
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.vegas_scan
- vegas_scan
- = np.empty((num_test, 1080))
-
-
-
-
-
-
-
-
- list
- list f110_gym::unittest::legacy_scan_gen::x
- x
- = [test_poses[i, 0], 200.]
-
-
-
-
-
-
-
-
- list
- list f110_gym::unittest::legacy_scan_gen::y
- y
- = [test_poses[i, 1], 200.]
-
-
-
-
-
-
-
-
- list
- list f110_gym::unittest::legacy_scan_gen::theta
- theta
- = [test_poses[i, 2], 0.]
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.obs
- obs
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen._
- _
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.berlin_scan
- berlin_scan
- = np.empty((num_test, 1080))
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.skirk_scan
- skirk_scan
- = np.empty((num_test, 1080))
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.vegas
- vegas
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.berlin
- berlin
-
-
-
-
-
-
-
-
- f110_gym::unittest::legacy_scan_gen.skirk
- skirk
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test.xml b/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test.xml
deleted file mode 100644
index 0acbf61c..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test.xml
+++ /dev/null
@@ -1,484 +0,0 @@
-
-
-
- f110_gym::unittest::pyglet_test
- f110_gym::unittest::pyglet_test::Camera
- f110_gym::unittest::pyglet_test::CenteredCamera
-
-
- f110_gym::unittest::pyglet_test.parser
- parser
- = argparse.ArgumentParser()
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.type
- type
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.str
- str
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.required
- required
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.True
- True
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.help
- help
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.args
- args
- = parser.parse_args()
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_metada
- map_metada
- = yaml.safe_load(yaml_stream)
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_resolution
- map_resolution
- = map_metada['resolution']
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.origin
- origin
- = map_metada['origin']
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.origin_x
- origin_x
- = origin[0]
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.origin_y
- origin_y
- = origin[1]
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_img
- map_img
- = np.array(Image.open(args.map_path + args.map_ext).transpose(Image.FLIP_TOP_BOTTOM)).astype(np.float64)
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_height
- map_height
- = map_img.shape[0]
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_width
- map_width
- = map_img.shape[1]
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.range_x
- range_x
- = np.arange(map_width)
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.range_y
- range_y
- = np.arange(map_height)
-
-
-
-
-
-
-
-
- tuple f110_gym::unittest::pyglet_test::map_x
- map_x
- = (map_x * map_resolution + origin_x).flatten()
-
-
-
-
-
-
-
-
- tuple f110_gym::unittest::pyglet_test::map_y
- map_y
- = (map_y * map_resolution + origin_y).flatten()
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_z
- map_z
- = np.zeros(map_y.shape)
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_coords
- map_coords
- = np.vstack((map_x, map_y, map_z))
-
-
-
-
-
-
-
-
- float
- float f110_gym::unittest::pyglet_test.map_mask
- map_mask
- = 0.0
-
-
-
-
-
-
-
-
- float
- float f110_gym::unittest::pyglet_test.map_mask_flat
- map_mask_flat
- = map_mask.flatten()
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.map_points
- map_points
- = map_coords[:, map_mask_flat].T
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.config
- config
- = Config(sample_buffers=1, samples=4,
- depth_size=16, double_buffer=True, )
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.window
- window
- = window.Window(resizable=True, config=config)
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.cam
- cam
- = [Camera](window)
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.batch
- batch
- = graphics.Batch()
-
-
-
-
-
-
-
-
- list
- list f110_gym::unittest::pyglet_test.points
- points
- = []
-
-
-
-
-
-
-
-
- f110_gym::unittest::pyglet_test.particle
- particle
- = batch.add(1, GL_POINTS, None, ('v3f/stream', [map_points[i, 0], map_points[i, 1], map_points[i, 2]]))
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.on_resize
- (width, height)
- on_resize
- width
- width
-
- height
- height
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.loop
- (dt)
- loop
- dt
- dt
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.pyglet_test.on_draw
- ()
- on_draw
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test__camera.xml b/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test__camera.xml
deleted file mode 100644
index 29039c2f..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest_1_1pyglet__test__camera.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-
-
-
- f110_gym::unittest::pyglet_test_camera
- f110_gym::unittest::pyglet_test_camera::App
-
-
- float
- float f110_gym::unittest::pyglet_test_camera.ZOOM_IN_FACTOR
- ZOOM_IN_FACTOR
- = 1.2
-
-
-
-
-
-
-
-
- int
- int f110_gym::unittest::pyglet_test_camera.ZOOM_OUT_FACTOR
- ZOOM_OUT_FACTOR
- = 1/ZOOM_IN_FACTOR
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest_1_1random__trackgen.xml b/docs/xml/namespacef110__gym_1_1unittest_1_1random__trackgen.xml
deleted file mode 100644
index e65e7637..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest_1_1random__trackgen.xml
+++ /dev/null
@@ -1,204 +0,0 @@
-
-
-
- f110_gym::unittest::random_trackgen
-
-
- f110_gym::unittest::random_trackgen.parser
- parser
- = argparse.ArgumentParser()
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.type
- type
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.int
- int
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.default
- default
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.help
- help
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.args
- args
- = parser.parse_args()
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.NUM_MAPS
- NUM_MAPS
- = args.num_maps
-
-
-
-
-
-
-
-
- float
- float f110_gym::unittest::random_trackgen.WIDTH
- WIDTH
- = 10.0
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.track
- track
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.track_int
- track_int
-
-
-
-
-
-
-
-
- f110_gym::unittest::random_trackgen.track_ext
- track_ext
-
-
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.random_trackgen.create_track
- ()
- create_track
-
-
-
-
-
-
-
-
- def
- def f110_gym.unittest.random_trackgen.convert_track
- (track, track_int, track_ext, iter)
- convert_track
- track
- track
-
- track_int
- track_int
-
- track_ext
- track_ext
-
- iter
- iter
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacef110__gym_1_1unittest_1_1scan__sim.xml b/docs/xml/namespacef110__gym_1_1unittest_1_1scan__sim.xml
deleted file mode 100644
index 0802d054..00000000
--- a/docs/xml/namespacef110__gym_1_1unittest_1_1scan__sim.xml
+++ /dev/null
@@ -1,363 +0,0 @@
-
-
-
- f110_gym::unittest::scan_sim
- f110_gym::unittest::scan_sim::ScanSimulator2D
- f110_gym::unittest::scan_sim::ScanTests
-
-
- def
- def f110_gym.unittest.scan_sim.get_dt
- (bitmap, resolution)
- get_dt
- bitmap
- bitmap
-
- resolution
- resolution
-
-
-
-
-Distance transformation, returns the distance matrix from the input bitmap.
-Uses scipy.ndimage, cannot be JITted.
-
- Args:
- bitmap (numpy.ndarray, (n, m)): input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace
- resolution (float): resolution of the input bitmap (m/cell)
-
- Returns:
- dt (numpy.ndarray, (n, m)): output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.xy_2_rc
- (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution)
- xy_2_rc
- x
- x
-
- y
- y
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
-
-
-
-Translate (x, y) coordinate into (r, c) in the matrix
-
- Args:
- x (float): coordinate in x (m)
- y (float): coordinate in y (m)
- orig_x (float): x coordinate of the map origin (m)
- orig_y (float): y coordinate of the map origin (m)
-
- Returns:
- r (int): row number in the transform matrix of the given point
- c (int): column number in the transform matrix of the given point
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.distance_transform
- (x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt)
- distance_transform
- x
- x
-
- y
- y
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
- dt
- dt
-
-
-
-
-Look up corresponding distance in the distance matrix
-
- Args:
- x (float): x coordinate of the lookup point
- y (float): y coordinate of the lookup point
- orig_x (float): x coordinate of the map origin (m)
- orig_y (float): y coordinate of the map origin (m)
-
- Returns:
- distance (float): corresponding shortest distance to obstacle in meters
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.trace_ray
- (x, y, theta_index, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range)
- trace_ray
- x
- x
-
- y
- y
-
- theta_index
- theta_index
-
- sines
- sines
-
- cosines
- cosines
-
- eps
- eps
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
- dt
- dt
-
- max_range
- max_range
-
-
-
-
-Find the length of a specific ray at a specific scan angle theta
-Purely math calculation and loops, should be JITted.
-
- Args:
- x (float): current x coordinate of the ego (scan) frame
- y (float): current y coordinate of the ego (scan) frame
- theta_index(int): current index of the scan beam in the scan range
- sines (numpy.ndarray (n, )): pre-calculated sines of the angle array
- cosines (numpy.ndarray (n, )): pre-calculated cosines ...
-
- Returns:
- total_distance (float): the distance to first obstacle on the current scan beam
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.get_scan
- (pose, theta_dis, fov, num_beams, theta_index_increment, sines, cosines, eps, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt, max_range)
- get_scan
- pose
- pose
-
- theta_dis
- theta_dis
-
- fov
- fov
-
- num_beams
- num_beams
-
- theta_index_increment
- theta_index_increment
-
- sines
- sines
-
- cosines
- cosines
-
- eps
- eps
-
- orig_x
- orig_x
-
- orig_y
- orig_y
-
- orig_c
- orig_c
-
- orig_s
- orig_s
-
- height
- height
-
- width
- width
-
- resolution
- resolution
-
- dt
- dt
-
- max_range
- max_range
-
-
-
-
-Perform the scan for each discretized angle of each beam of the laser, loop heavy, should be JITted
-
- Args:
- pose (numpy.ndarray(3, )): current pose of the scan frame in the map
- theta_dis (int): number of steps to discretize the angles between 0 and 2pi for look up
- fov (float): field of view of the laser scan
- num_beams (int): number of beams in the scan
- theta_index_increment (float): increment between angle indices after discretization
-
- Returns:
- scan (numpy.ndarray(n, )): resulting laser scan at the pose, n=num_beams
-
-
-
-
-
- def
- def f110_gym.unittest.scan_sim.main
- ()
- main
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/docs/xml/namespacegym.xml b/docs/xml/namespacegym.xml
deleted file mode 100644
index 57202419..00000000
--- a/docs/xml/namespacegym.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
- gym
-
-
-
-
-
-
diff --git a/docs/xml/namespacegym_1_1envs_1_1unittest_1_1scan__sim.xml b/docs/xml/namespacegym_1_1envs_1_1unittest_1_1scan__sim.xml
deleted file mode 100644
index 5004a69c..00000000
--- a/docs/xml/namespacegym_1_1envs_1_1unittest_1_1scan__sim.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
- gym::envs::unittest::scan_sim
-
-
-
-
-
-
diff --git a/docs/xml/namespacepyglet_1_1gl.xml b/docs/xml/namespacepyglet_1_1gl.xml
deleted file mode 100644
index 5ffbead9..00000000
--- a/docs/xml/namespacepyglet_1_1gl.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
- pyglet::gl
-
-
-
-
-
-
diff --git a/docs/xml/namespaceunittest.xml b/docs/xml/namespaceunittest.xml
deleted file mode 100644
index 2dbf26e1..00000000
--- a/docs/xml/namespaceunittest.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
- unittest
-
-
-
-
-
-
diff --git a/docs/xml/namespaceutils.xml b/docs/xml/namespaceutils.xml
deleted file mode 100644
index 5e257bc9..00000000
--- a/docs/xml/namespaceutils.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-
-
-
- utils
-
-
-
-
-
-
diff --git a/docs/xml/pyglet__test_8py.xml b/docs/xml/pyglet__test_8py.xml
deleted file mode 100644
index a43b1935..00000000
--- a/docs/xml/pyglet__test_8py.xml
+++ /dev/null
@@ -1,196 +0,0 @@
-
-
-
- pyglet_test.py
- f110_gym::unittest::pyglet_test::Camera
- f110_gym::unittest::pyglet_test::CenteredCamera
- f110_gym::unittest::pyglet_test
-
-
-
-
-
-import as from import import from [pyglet.gl]import import from import import class [Camera]:""" def __init__(self, assert "Minimum [_window][scroll_speed][max_zoom][min_zoom][offset_x][offset_y][_zoom][max_zoom]),[min_zoom])def zoom(self): return [_zoom]def zoom(self, """ [_zoom][max_zoom]),[min_zoom])def [position](self):"""Query return [offset_x],[offset_y]def [position](self,"""Set [offset_x],[offset_y]def [move](self,""" [offset_x][scroll_speed][offset_y][scroll_speed]def begin(self): [_window].view.translate(-self.[offset_x][_zoom],[offset_y][_zoom],[_zoom],[_zoom],[_window].viewdef end(self): [_window].view.scale(1[_zoom],[_zoom],[offset_x][_zoom],[offset_y][_zoom],[_window].viewdef __enter__(self): [begin]()def __exit__(self, [end]()class [CenteredCamera]([Camera]):"""A def begin(self): [_window].width[_zoom][offset_x][_window].height[_zoom][offset_y][_window].view.translate(-x[_zoom],[_zoom],[_zoom],[_zoom],[_window].viewdef end(self): [_window].width[_zoom][offset_x][_window].height[_zoom][offset_y][_window].view.scale(1[_zoom],[_zoom],[_zoom],[_zoom],[_window].viewparser parser.add_argument( '--map_path' , True , 'Path ) parser.add_argument( '--map_ext' , True , 'Extension ) args with '.yaml' , 'r' ) as try : 'resolution' ] 'origin' ] except as map_img map_height map_width range_x range_y map_x, map_x map_y map_z map_coords map_mask map_mask_flat map_points try : True , True , except True ) glClearColor(18/255, glEnable(GL_DEPTH_TEST) glTranslatef(25, cam[Camera](window) @window.event def on_resize(width, return batch points for in None , 'v3f/stream' , def loop(dt): pass @window.event def on_draw(): pyglet.clock.schedule(loop) pyglet.app.run()
-
-
diff --git a/docs/xml/pyglet__test__camera_8py.xml b/docs/xml/pyglet__test__camera_8py.xml
deleted file mode 100644
index 89cad37e..00000000
--- a/docs/xml/pyglet__test__camera_8py.xml
+++ /dev/null
@@ -1,146 +0,0 @@
-
-
-
- pyglet_test_camera.py
- f110_gym::unittest::pyglet_test_camera::App
- f110_gym::unittest::pyglet_test_camera
-
-
-
-
-
-import from [pyglet.gl]import ZOOM_IN_FACTOR ZOOM_OUT_FACTOR class [App](pyglet.window.Window):def __init__(self, True ) [left][right][bottom][top][zoom_level][zoomed_width][zoomed_height]def init_gl(self, def on_resize(self, [left][right][bottom][top][zoomed_width][zoomed_height]def on_mouse_drag(self, [left][zoom_level][right][zoom_level][bottom][zoom_level][top][zoom_level]def on_mouse_scroll(self, if else if else if [zoom_level]*f[zoom_level][left][zoomed_width][bottom][zoomed_height][zoomed_width][zoomed_height][left][zoomed_width][right][zoomed_width][bottom][zoomed_height][top][zoomed_height]def on_draw(self): [left],[right],[bottom],[top],def run(self): [App](800,True ).run()
-
-
diff --git a/docs/xml/random__trackgen_8py.xml b/docs/xml/random__trackgen_8py.xml
deleted file mode 100644
index 72b46a45..00000000
--- a/docs/xml/random__trackgen_8py.xml
+++ /dev/null
@@ -1,248 +0,0 @@
-
-
-
- random_trackgen.py
- f110_gym::unittest::random_trackgen
-
-
-
-
-
-""" Generates Adapted Author: """ import import import import as import as import as from import from import import parser parser.add_argument( '--seed' , 'Seed ) parser.add_argument( '--num_maps' , 'Number ) args np.random.seed(args.seed) if not 'maps' ): 'Creating ) 'maps' ) if not 'centerline' ): 'Creating ) 'centerline' ) NUM_MAPS WIDTH def create_track(): for in if if False while True : if and False if True while True : True while True : if False break if break if not break continue while while if if if break if break while True : if return False and if and elif and break "Track assert assert if return False for in return def convert_track(track, 'black' , 'black' , 'equal' ) 'off' ) 'maps/map' '.png' , 'map , 'maps/map' '.png' , 'maps/map' '.png' , 'maps/map' '.pgm' , 'maps/map' '.yaml' , 'w' ) 'image: '.pgm\n' ) 'resolution: ) 'origin: ',' ', ) 'negate: ) 'centerline/map' '.csv' , 'w' ) for in ', '\n' ) if '__main__' : for in try : except : 'Random ) continue
-
-
diff --git a/docs/xml/rendering_8py.xml b/docs/xml/rendering_8py.xml
deleted file mode 100644
index fca16f6f..00000000
--- a/docs/xml/rendering_8py.xml
+++ /dev/null
@@ -1,352 +0,0 @@
-
-
-
- rendering.py
- f110_gym::envs::rendering::EnvRenderer
- f110_gym::envs::rendering
- pyglet::gl
-
-
-
-
-
-""" Rendering Author: """ import from [pyglet.gl]import import as from import import from [f110_gym.envs.collision_models]import ZOOM_IN_FACTOR ZOOM_OUT_FACTOR CAR_LENGTH CAR_WIDTH class [EnvRenderer](pyglet.window.Window):""" def [__init__](self,""" True ) [__init__](width,True , False , [left][right][bottom][top][zoom_level][zoomed_width][zoomed_height][batch][map_points]None [poses]None [vertices]None [score_label]'Lap .format( 'center' , 'center' , [batch])[fps_display]def [update_map](self,""" with '.yaml' , 'r' ) as try : 'resolution' ] 'origin' ] except as for in [batch].add(1,None , 'v3f/stream' , 'c3B/stream' , [map_points]def [on_resize](self,""" [on_resize](width,[left][zoom_level][right][zoom_level][bottom][zoom_level][top][zoom_level][zoomed_width][zoom_level][zoomed_height][zoom_level]def [on_mouse_drag](self,""" [left][zoom_level][right][zoom_level][bottom][zoom_level][top][zoom_level]def [on_mouse_scroll](self,""" if else if else if [zoom_level][zoom_level][left][zoomed_width][bottom][zoomed_height][zoomed_width][zoomed_height][left][zoomed_width][right][zoomed_width][bottom][zoomed_height][top][zoomed_height]def [on_close](self):""" [on_close]()raise 'Rendering ) def [on_draw](self):""" if [map_points]is None : raise 'Map ) if [poses]is None : raise 'Agent ) [left],[right],[bottom],[top],[batch].draw()[fps_display].draw()def [update_obs](self,""" [ego_idx]'ego_idx' ] 'poses_x' ] 'poses_y' ] 'poses_theta' ] if [poses]is None : [cars]for in if [ego_idx]:[batch].add(4,None , 'v2f' , 'c3B' , [cars].append(car)else : [batch].add(4,None , 'v2f' , 'c3B' , [cars].append(car)for in [cars][j].vertices[poses][score_label].text'Lap .format(laptime=obs[ 'lap_times' ][0], 'lap_counts' ][obs[ 'ego_idx' ]])
-
-
diff --git a/docs/xml/scan__sim_8py.xml b/docs/xml/scan__sim_8py.xml
deleted file mode 100644
index 0ad301d7..00000000
--- a/docs/xml/scan__sim_8py.xml
+++ /dev/null
@@ -1,446 +0,0 @@
-
-
-
- scan_sim.py
- f110_gym::unittest::scan_sim::ScanSimulator2D
- f110_gym::unittest::scan_sim::ScanTests
- f110_gym::unittest::scan_sim
-
-
-
-
-
-""" Prototype Author: """ import as from import from import as from import import import import import def get_dt(bitmap, """ return @njit(cache= True ) def xy_2_rc(x, """ if or or or else : return @njit(cache= True ) def distance_transform(x, """ return @njit(cache= True ) def trace_ray(x, """ while and return @njit(cache= True ) def get_scan(pose, """ while for in while return class [ScanSimulator2D](object):""" def __init__(self, [num_beams][fov][std_dev][eps][theta_dis][max_range][angle_increment][fov][num_beams][theta_index_increment][angle_increment][orig_c]None [orig_s]None [orig_x]None [orig_y]None [map_height]None [map_width]None [map_resolution]None [dt]None [rng][sines][cosines]def [set_map](self,""" [map_img][map_img][map_img].astype(np.float64)[map_img][self.[map_img][map_img][self.[map_img][map_height][map_img].shape[0][map_width][map_img].shape[1]with 'r' ) as try : [map_resolution]'resolution' ] [origin]'origin' ] except as [orig_x][origin][0][orig_y][origin][1][orig_s][origin][2])[orig_c][origin][2])[dt][map_img],[map_resolution])return True def [scan](self,""" if [map_height]is None : raise 'Map ) [theta_dis],[fov],[num_beams],[theta_index_increment],[sines],[cosines],[eps],[orig_x],[orig_y],[orig_c],[orig_s],[map_height],[map_width],[map_resolution],[dt],[max_range])[rng].normal(0.,[std_dev],[num_beams])return def get_increment(self): return [angle_increment]""" Unit Author: Test """ class [ScanTests](unittest.TestCase):def setUp(self): [num_beams][fov][num_test][test_poses][num_test],[test_poses][:,[num_test])'legacy_scan.npz' ) [berlin_scan]'berlin' ] [skirk_scan]'skirk' ] def test_map_berlin(self): [ScanSimulator2D](self.[num_beams],[fov])[num_test],[num_beams]))'../../../maps/berlin.yaml' '.png' for in [num_test]):[test_poses][i][berlin_scan]import as [fov]/2.,[fov]/2.,[num_beams])'.' , [berlin_scan][1,:],'.' , def test_map_skirk(self): [ScanSimulator2D](self.[num_beams],[fov])[num_test],[num_beams]))'../../../maps/skirk.yaml' '.png' 'map ) for in [num_test]):[test_poses][i][skirk_scan]'skirk import as [fov]/2.,[fov]/2.,[num_beams])'.' , [skirk_scan][1,:],'.' , def test_fps(self): [ScanSimulator2D](self.[num_beams],[fov])'../../../maps/skirk.yaml' '.png' import for in def main(): '/home/f1tenth-eval/tunercar/es/maps/map0.yaml' '.png' [ScanSimulator2D](num_beams,import for in 'FPS ) 'Elapsed ' import as from import 'polar' ) '.' , def update(i): return True ) if '__main__' :
-
-
diff --git a/docs/xml/unittest_2____init_____8py.xml b/docs/xml/unittest_2____init_____8py.xml
deleted file mode 100644
index 4c762804..00000000
--- a/docs/xml/unittest_2____init_____8py.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-
-
-
- __init__.py
- f110_gym::unittest
- gym::envs::unittest::scan_sim
-
-
-
-
-
-from [gym.envs.unittest.scan_sim]import
-
-
diff --git a/docs/xml/xml.xsd b/docs/xml/xml.xsd
deleted file mode 100644
index 9f80fe15..00000000
--- a/docs/xml/xml.xsd
+++ /dev/null
@@ -1,23 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/examples/example_custom_reward.py b/examples/example_custom_reward.py
new file mode 100644
index 00000000..2edad2ff
--- /dev/null
+++ b/examples/example_custom_reward.py
@@ -0,0 +1,68 @@
+import gymnasium
+from gymnasium import Wrapper
+
+
+class RacingRewardWrapper(Wrapper):
+ """
+ Example of custom reward which encourage speed and penalize crashes.
+
+ reward(state) = w_{speed} * state_{speed} + w_{crash} * state_{crash}
+ """
+
+ def __init__(
+ self,
+ env: gymnasium.Env,
+ agent_id: str,
+ reward_speed_weight: float,
+ reward_crash_weight: float,
+ ):
+ super().__init__(env)
+ self.agent_id = agent_id
+ self.reward_speed_weight = reward_speed_weight
+ self.reward_crash_weight = reward_crash_weight
+
+ # sanity checks on the observation space
+ if agent_id not in env.observation_space.spaces:
+ raise ValueError(f"Agent {agent_id} not found in observation space")
+ for feature in ["linear_vel_x", "collision"]:
+ if feature not in env.observation_space.spaces[agent_id].spaces:
+ raise ValueError(f"{feature} not found in observation space")
+
+ def step(self, action):
+ obs, _, terminated, truncated, info = self.env.step(action)
+ speed = obs[self.agent_id]["linear_vel_x"]
+ crash = obs[self.agent_id]["collision"]
+ reward = self.reward_speed_weight * speed + self.reward_crash_weight * crash
+ return obs, reward, terminated, truncated, info
+
+
+env = gymnasium.make(
+ "f110_gym:f110-v0",
+ config={
+ "num_agents": 1,
+ "observation_config": {
+ "type": "features",
+ "features": ["scan", "linear_vel_x", "collision"],
+ },
+ },
+ render_mode="human",
+)
+env = RacingRewardWrapper(
+ env, agent_id="agent_0", reward_speed_weight=1.0, reward_crash_weight=-1.0
+)
+
+obs, info = env.reset()
+done = False
+
+tot_reward = 0.0
+while not done:
+ action = env.action_space.sample()
+ obs, reward, done, truncated, info = env.step(action)
+
+ print("step reward: ", reward)
+ tot_reward += reward
+
+ env.render()
+
+print("total reward: ", tot_reward)
+env.close()
diff --git a/f1tenth_gym/envs/action.py b/f1tenth_gym/envs/action.py
index c9eb7a6f..40b77099 100644
--- a/f1tenth_gym/envs/action.py
+++ b/f1tenth_gym/envs/action.py
@@ -9,19 +9,51 @@
class LongitudinalActionEnum(Enum):
+ """Logitudinal car action enum
+
+ Acceleration: 1
+
+ Speed: 2
+
+ Raises
+ ------
+ ValueError
+ Unknown action type
+ """
+
Accl = 1
Speed = 2
@staticmethod
def from_string(action: str):
+ """Set longitudinal action type from string
+
+ Parameters
+ ----------
+ action : str
+ longitudinal action type
+
+ Returns
+ -------
+ AcclAction | SpeedAction
+ Specified longitudinal action type
+
+ Raises
+ ------
+ ValueError
+ Unknown action type
+ """
if action == "accl":
return AcclAction
elif action == "speed":
return SpeedAction
else:
raise ValueError(f"Unknown action type {action}")
-
+
+
class LongitudinalAction:
+ """Longitudinal Action abstract class"""
+
def __init__(self) -> None:
self._type = None
@@ -30,26 +62,91 @@ def __init__(self) -> None:
@abstractmethod
def act(self, longitudinal_action: Any, **kwargs) -> float:
+ """Convert longitudinal action
+
+ Parameters
+ ----------
+ longitudinal_action : input longitudinal action
+
+ Returns
+ -------
+ float
+ converted longitudinal action
+
+ Raises
+ ------
+ NotImplementedError
+ """
raise NotImplementedError("longitudinal act method not implemented")
@property
def type(self) -> str:
+ """property, type of action
+
+ Returns
+ -------
+ str
+ type
+ """
return self._type
@property
def space(self) -> gym.Space:
- return gym.spaces.Box(low=self.lower_limit, high=self.upper_limit, dtype=np.float32)
+ """property, action space
+
+ Returns
+ -------
+ gym.Space
+ action space
+ """
+ return gym.spaces.Box(
+ low=self.lower_limit, high=self.upper_limit, dtype=np.float32
+ )
+
class AcclAction(LongitudinalAction):
+ """Acceleration action type
+
+ Parameters
+ ----------
+ params : Dict
+ parameter dictionary
+ """
+
def __init__(self, params: Dict) -> None:
super().__init__()
self._type = "accl"
self.lower_limit, self.upper_limit = -params["a_max"], params["a_max"]
def act(self, action: Tuple[float, float], state, params) -> float:
+ """Return action
+
+ Parameters
+ ----------
+ action : Tuple[float, float]
+ input before conversion
+ state : np.ndarray
+ current dynamical state
+ params : dict
+ parameter dictionary
+
+ Returns
+ -------
+ float
+ converted acceleration
+ """
return action
+
class SpeedAction(LongitudinalAction):
+ """Speed action type
+
+ Parameters
+ ----------
+ params : Dict
+ parameter dictionary
+ """
+
def __init__(self, params: Dict) -> None:
super().__init__()
self._type = "speed"
@@ -58,6 +155,22 @@ def __init__(self, params: Dict) -> None:
def act(
self, action: Tuple[float, float], state: np.ndarray, params: Dict
) -> float:
+ """Return action
+
+ Parameters
+ ----------
+ action : Tuple[float, float]
+ input before conversion
+ state : np.ndarray
+ current dynamical state
+ params : dict
+ parameter dictionary
+
+ Returns
+ -------
+ float
+ converted speed
+ """
accl = pid_accl(
action,
state[3],
@@ -68,7 +181,10 @@ def act(
return accl
+
class SteerAction:
+ """Steering Action abstract class"""
+
def __init__(self) -> None:
self._type = None
@@ -77,17 +193,58 @@ def __init__(self) -> None:
@abstractmethod
def act(self, steer_action: Any, **kwargs) -> float:
+ """Convert steering action
+
+ Parameters
+ ----------
+ steer_action : Any
+ input steering action
+
+ Returns
+ -------
+ float
+ converted steering action
+
+ Raises
+ ------
+ NotImplementedError
+ """
raise NotImplementedError("steer act method not implemented")
@property
def type(self) -> str:
+ """steering action type
+
+ Returns
+ -------
+ str
+ type
+ """
return self._type
-
+
@property
def space(self) -> gym.Space:
- return gym.spaces.Box(low=self.lower_limit, high=self.upper_limit, dtype=np.float32)
+ """action space
+
+ Returns
+ -------
+ gym.Space
+ action space
+ """
+ return gym.spaces.Box(
+ low=self.lower_limit, high=self.upper_limit, dtype=np.float32
+ )
+
class SteeringAngleAction(SteerAction):
+ """Steering angle action type
+
+ Parameters
+ ----------
+ params : Dict
+ parameter dictionary
+ """
+
def __init__(self, params: Dict) -> None:
super().__init__()
self._type = "steering_angle"
@@ -95,15 +252,40 @@ def __init__(self, params: Dict) -> None:
def act(
self, action: Tuple[float, float], state: np.ndarray, params: Dict
- ) -> float:
+ ) -> float:
+ """Return action
+
+ Parameters
+ ----------
+ action : Tuple[float, float]
+ input before conversion
+ state : np.ndarray
+ current dynamical state
+ params : dict
+ parameter dictionary
+
+ Returns
+ -------
+ float
+ converted steering angle
+ """
sv = pid_steer(
action,
state[2],
params["sv_max"],
)
return sv
-
+
+
class SteeringSpeedAction(SteerAction):
+ """Steering angle velocity action type
+
+ Parameters
+ ----------
+ params : Dict
+ parameter dictionary
+ """
+
def __init__(self, params: Dict) -> None:
super().__init__()
self._type = "steering_speed"
@@ -111,15 +293,61 @@ def __init__(self, params: Dict) -> None:
def act(
self, action: Tuple[float, float], state: np.ndarray, params: Dict
- ) -> float:
+ ) -> float:
+ """Return action
+
+ Parameters
+ ----------
+ action : Tuple[float, float]
+ input before conversion
+ state : np.ndarray
+ current dynamical state
+ params : dict
+ parameter dictionary
+
+ Returns
+ -------
+ float
+ converted steering velocity angle
+ """
return action
+
class SteerActionEnum(Enum):
+ """Logitudinal car action enum
+
+ Acceleration: 1
+
+ Speed: 2
+
+ Raises
+ ------
+ ValueError
+ Unknown action type
+ """
+
Steering_Angle = 1
Steering_Speed = 2
@staticmethod
def from_string(action: str):
+ """Set steering action type from string
+
+ Parameters
+ ----------
+ action : str
+ steering action type
+
+ Returns
+ -------
+ SteeringAngleAction | SteeringSpeedAction
+ Specified steering action type
+
+ Raises
+ ------
+ ValueError
+ Unknown action type
+ """
if action == "steering_angle":
return SteeringAngleAction
elif action == "steering_speed":
@@ -127,11 +355,25 @@ def from_string(action: str):
else:
raise ValueError(f"Unknown action type {action}")
+
class CarAction:
- def __init__(self, control_mode : list[str, str], params: Dict) -> None:
+ """Car actions
+
+ Parameters
+ ----------
+ control_mode : list[str, str]
+ control mode requested
+ params : Dict
+ parameter dictionary
+
+ Raises
+ ------
+ ValueError
+ """
+ def __init__(self, control_mode: list[str, str], params: Dict) -> None:
long_act_type_fn = None
steer_act_type_fn = None
- if type(control_mode) == str: # only one control mode specified
+ if type(control_mode) == str: # only one control mode specified
try:
long_act_type_fn = LongitudinalActionEnum.from_string(control_mode)
except ValueError:
@@ -141,24 +383,24 @@ def __init__(self, control_mode : list[str, str], params: Dict) -> None:
raise ValueError(f"Unknown control mode {control_mode}")
if control_mode == "steering_speed":
warnings.warn(
- f'Only one control mode specified, using {control_mode} for steering and defaulting to acceleration for longitudinal control'
+ f"Only one control mode specified, using {control_mode} for steering and defaulting to acceleration for longitudinal control"
)
long_act_type_fn = LongitudinalActionEnum.from_string("accl")
else:
warnings.warn(
- f'Only one control mode specified, using {control_mode} for steering and defaulting to speed for longitudinal control'
+ f"Only one control mode specified, using {control_mode} for steering and defaulting to speed for longitudinal control"
)
long_act_type_fn = LongitudinalActionEnum.from_string("speed")
else:
if control_mode == "accl":
warnings.warn(
- f'Only one control mode specified, using {control_mode} for longitudinal control and defaulting to steering speed for steering'
+ f"Only one control mode specified, using {control_mode} for longitudinal control and defaulting to steering speed for steering"
)
steer_act_type_fn = SteerActionEnum.from_string("steering_speed")
else:
warnings.warn(
- f'Only one control mode specified, using {control_mode} for longitudinal control and defaulting to steering angle for steering'
+ f"Only one control mode specified, using {control_mode} for longitudinal control and defaulting to steering angle for steering"
)
steer_act_type_fn = SteerActionEnum.from_string("steering_angle")
@@ -167,24 +409,54 @@ def __init__(self, control_mode : list[str, str], params: Dict) -> None:
steer_act_type_fn = SteerActionEnum.from_string(control_mode[1])
else:
raise ValueError(f"Unknown control mode {control_mode}")
-
- self._longitudinal_action : LongitudinalAction = long_act_type_fn(params)
- self._steer_action : SteerAction = steer_act_type_fn(params)
+
+ self._longitudinal_action: LongitudinalAction = long_act_type_fn(params)
+ self._steer_action: SteerAction = steer_act_type_fn(params)
@abstractmethod
def act(self, action: Any, **kwargs) -> Tuple[float, float]:
+ """Return action
+
+ Parameters
+ ----------
+ action : Any
+ input control actions
+
+ Returns
+ -------
+ Tuple[float, float]
+ converted control actions
+ """
longitudinal_action = self._longitudinal_action.act(action[0], **kwargs)
steer_action = self._steer_action.act(action[1], **kwargs)
return longitudinal_action, steer_action
@property
def type(self) -> Tuple[str, str]:
+ """property, car action type
+
+ Returns
+ -------
+ Tuple[str, str]
+ type
+ """
return (self._steer_action.type, self._longitudinal_action.type)
@property
def space(self) -> gym.Space:
- low = np.array([self._steer_action.lower_limit, self._longitudinal_action.lower_limit]).astype(np.float32)
- high = np.array([self._steer_action.upper_limit, self._longitudinal_action.upper_limit]).astype(np.float32)
+ """property, car action space
+
+ Returns
+ -------
+ gym.Space
+ action space
+ """
+ low = np.array(
+ [self._steer_action.lower_limit, self._longitudinal_action.lower_limit]
+ ).astype(np.float32)
+ high = np.array(
+ [self._steer_action.upper_limit, self._longitudinal_action.upper_limit]
+ ).astype(np.float32)
return gym.spaces.Box(low=low, high=high, shape=(2,), dtype=np.float32)
@@ -192,6 +464,20 @@ def space(self) -> gym.Space:
def from_single_to_multi_action_space(
single_agent_action_space: gym.spaces.Box, num_agents: int
) -> gym.spaces.Box:
+ """Convert single agent action spaces to multi agent action spaces
+
+ Parameters
+ ----------
+ single_agent_action_space : gym.spaces.Box
+ action space of a single aget
+ num_agents : int
+ number of agents in the simulation
+
+ Returns
+ -------
+ gym.spaces.Box
+ action spaces of multiple agents
+ """
return gym.spaces.Box(
low=single_agent_action_space.low[None].repeat(num_agents, 0),
high=single_agent_action_space.high[None].repeat(num_agents, 0),
diff --git a/f1tenth_gym/envs/base_classes.py b/f1tenth_gym/envs/base_classes.py
index f5990dc6..911754dd 100644
--- a/f1tenth_gym/envs/base_classes.py
+++ b/f1tenth_gym/envs/base_classes.py
@@ -1,31 +1,3 @@
-# MIT License
-
-# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-
-"""
-Prototype of base classes
-Replacement of the old RaceCar, Simulator classes in C++
-Author: Hongrui Zheng
-"""
from __future__ import annotations
import numpy as np
from .dynamic_models import DynamicModel
@@ -37,20 +9,34 @@
class RaceCar(object):
- """
- Base level race car class, handles the physics and laser scan of a single vehicle
-
- Data Members:
- params (dict): vehicle parameters dictionary
- is_ego (bool): ego identifier
- time_step (float): physics timestep
- num_beams (int): number of beams in laser
- fov (float): field of view of laser
- state (np.ndarray (7, )): state vector [x, y, theta, vel, steer_angle, ang_vel, slip_angle]
- odom (np.ndarray(13, )): odometry vector [x, y, z, qx, qy, qz, qw, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z]
- accel (float): current acceleration input
- steer_angle_vel (float): current steering velocity input
- in_collision (bool): collision indicator
+ """Base level race car class, handles the physics and laser scan of a single vehicle
+
+ Parameters
+ ----------
+ params : _type_
+ vehicle parameters dictionary
+ seed : _type_
+ random seed
+ action_type : CarAction
+ action type for the cars
+ integrator : _type_, optional
+ integrator type, by default EulerIntegrator()
+ model : _type_, optional
+ vehicle model type, by default DynamicModel.ST
+ is_ego : bool, optional
+ ego identifier, by default False
+ time_step : float, optional
+ physics sim time step, by default 0.01
+ num_beams : int, optional
+ number of beams in the laser scan, by default 1080
+ fov : float, optional
+ field of view of the laser, by default 4.7
+
+
+ Raises
+ ------
+ ValueError
+ No Control Action Type Specified.
"""
# static objects that don't need to be stored in class instances
@@ -71,25 +57,6 @@ def __init__(
num_beams=1080,
fov=4.7,
):
- """
- TODO rewrite it
-
- Init function
-
- Args:
- params (dict): vehicle parameters dictionary
- seed (int): random seed
- is_ego (bool, default=False): ego identifier
- time_step (float, default=0.01): physics sim time step
- num_beams (int, default=1080): number of beams in the laser scan
- fov (float, default=4.7): field of view of the laser
- integrator (Integrator, default=EulerIntegrator()): integrator type
- model (Model, default=Model.ST): vehicle model type
- action_type (Action, default=SpeedAction()): action type
-
- Returns:
- None
- """
# initialization
self.params = params
@@ -166,36 +133,32 @@ def __init__(
RaceCar.side_distances[i] = min(to_side, to_fr)
def update_params(self, params):
- """
- Updates the physical parameters of the vehicle
- Note that does not need to be called at initialization of class anymore
-
- Args:
- params (dict): new parameters for the vehicle
+ """Updates the physical parameters of the vehicle
- Returns:
- None
+ Parameters
+ ----------
+ params : dict
+ new parameters for the vehicle
"""
self.params = params
def set_map(self, map: str | Track):
- """
- Sets the map for scan simulator
+ """Sets the map for scan simulator
- Args:
- map (str | Track): name of the map, or Track object
+ Parameters
+ ----------
+ map : str | Track
+ name of the map, or Track object
"""
RaceCar.scan_simulator.set_map(map)
def reset(self, pose):
- """
- Resets the vehicle to a pose
-
- Args:
- pose (np.ndarray (3, )): pose to reset the vehicle to
+ """Resets the vehicle to a pose
- Returns:
- None
+ Parameters
+ ----------
+ pose : np.ndarray
+ pose to reset the vehicle to
"""
# clear control inputs
self.accel = 0.0
@@ -210,16 +173,18 @@ def reset(self, pose):
self.scan_rng = np.random.default_rng(seed=self.seed)
def ray_cast_agents(self, scan):
- """
- Ray cast onto other agents in the env, modify original scan
+ """Ray cast onto other agents in the env, modify original scan
- Args:
- scan (np.ndarray, (n, )): original scan range array
+ Parameters
+ ----------
+ scan : np.ndarray
+ original scan range array
- Returns:
- new_scan (np.ndarray, (n, )): modified scan
+ Returns
+ -------
+ np.ndarray
+ modified scan
"""
-
# starting from original scan
new_scan = scan
@@ -240,19 +205,19 @@ def ray_cast_agents(self, scan):
return new_scan
def check_ttc(self, current_scan):
- """
- Check iTTC against the environment, sets vehicle states accordingly if collision occurs.
+ """Check iTTC against the environment, sets vehicle states accordingly if collision occurs.
Note that this does NOT check collision with other agents.
- state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle]
-
- Args:
- current_scan
+ Parameters
+ ----------
+ current_scan : np.ndarray
+ current laser scan
- Returns:
- None
+ Returns
+ -------
+ bool
+ whether the scan given indicates the vehicle is in collision with environment
"""
-
in_collision = check_ttc_jit(
current_scan,
self.state[3],
@@ -274,17 +239,25 @@ def check_ttc(self, current_scan):
return in_collision
def update_pose(self, raw_steer, vel):
+ """Steps the vehicle's physical simulation
+
+ Parameters
+ ----------
+ raw_steer : float
+ desired steering angle, or desired steering velocity
+ vel : float
+ desired longitudinal velocity, or desired longitudinal acceleration
+
+ Returns
+ -------
+ np.ndarray
+ current laser scan
+
+ Raises
+ ------
+ ValueError
+ No Control Action Type Specified.
"""
- Steps the vehicle's physical simulation
-
- Args:
- steer (float): desired steering angle, or desired steering velocity
- vel (float): desired longitudinal velocity, or desired longitudinal acceleration
-
- Returns:
- current_scan
- """
-
# steering delay
steer = 0.0
if self.steer_buffer.shape[0] < self.steer_buffer_size:
@@ -323,30 +296,26 @@ def update_pose(self, raw_steer, vel):
return current_scan
def update_opp_poses(self, opp_poses):
- """
- Updates the vehicle's information on other vehicles
-
- Args:
- opp_poses (np.ndarray(num_other_agents, 3)): updated poses of other agents
+ """Updates the vehicle's information on other vehicles
- Returns:
- None
+ Parameters
+ ----------
+ opp_poses : np.ndarray
+ updated poses of other agents
"""
self.opp_poses = opp_poses
def update_scan(self, agent_scans, agent_index):
- """
- Steps the vehicle's laser scan simulation
+ """Steps the vehicle's laser scan simulation
Separated from update_pose because needs to update scan based on NEW poses of agents in the environment
- Args:
- agent scans list (modified in-place),
- agent index (int)
-
- Returns:
- None
+ Parameters
+ ----------
+ agent_scans : list[np.ndarray]
+ list of scans of each agent
+ agent_index : int
+ index of agent
"""
-
current_scan = agent_scans[agent_index]
# check ttc
@@ -359,21 +328,33 @@ def update_scan(self, agent_scans, agent_index):
class Simulator(object):
- """
- Simulator class, handles the interaction and update of all vehicles in the environment
-
- TODO check description
-
- Data Members:
- num_agents (int): number of agents in the environment
- time_step (float): physics time step
- agent_poses (np.ndarray(num_agents, 3)): all poses of all agents
- agents (list[RaceCar]): container for RaceCar objects
- collisions (np.ndarray(num_agents, )): array of collision indicator for each agent
- collision_idx (np.ndarray(num_agents, )): which agent is each agent in collision with
- integrator (Integrator): integrator to use for vehicle dynamics
- model (Model): model to use for vehicle dynamics
- action_type (Action): action type to use for vehicle dynamics
+ """Simulator class, handles the interaction and update of all vehicles in the environment
+
+ Parameters
+ ----------
+ params : dict
+ vehicle parameter dictionary
+ num_agents : int
+ number of agents in the environment
+ seed : int
+ seed of the rng in scan simulation
+ action_type : CarAction
+ action type to use for controlling the vehicles
+ integrator : Integrator, optional
+ integrator to use for vehicle dynamics, by default IntegratorType.RK4
+ model : Model, optional
+ vehicle dynamics model to use, by default DynamicModel.ST
+ time_step : float, optional
+ physics time step, by default 0.01
+ ego_idx : int, optional
+ ego vehicle's index in list of agents, by default 0
+
+ Raises
+ ------
+ IndexError
+ Index given is out of bounds for list of agents.
+ ValueError
+ Number of poses for reset does not match number of agents.
"""
def __init__(
@@ -387,21 +368,6 @@ def __init__(
time_step=0.01,
ego_idx=0,
):
- """
- Init function
-
- Args:
- params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 'v_min', 'v_max', 'length', 'width'}
- num_agents (int): number of agents in the environment
- seed (int): seed of the rng in scan simulation
- time_step (float, default=0.01): physics time step
- ego_idx (int, default=0): ego vehicle's index in list of agents
- integrator (Integrator, default=Integrator.RK4): integrator to use for vehicle dynamics
- model (Model, default=Model.ST): vehicle dynamics model to use
- action_type (Action, default=SpeedAction()): action type to use for controlling the vehicle
- Returns:
- None
- """
self.num_agents = num_agents
self.seed = seed
self.time_step = time_step
@@ -432,28 +398,30 @@ def __init__(
self.agent_scans = np.empty((self.num_agents, num_beams))
def set_map(self, map: str | Track):
- """
- Sets the map of the environment and sets the map for scan simulator of each agent
-
- Args:
- map (str | Track): name of the map, or Track object
+ """Sets the map of the environment and sets the map for scan simulator of each agent
- Returns:
- None
+ Parameters
+ ----------
+ map : str | Track
+ name of the map, or Track object
"""
for agent in self.agents:
agent.set_map(map)
def update_params(self, params, agent_idx=-1):
- """
- Updates the params of agents, if an index of an agent is given, update only that agent's params
-
- Args:
- params (dict): dictionary of params, see details in docstring of __init__
- agent_idx (int, default=-1): index for agent that needs param update, if negative, update all agents
-
- Returns:
- None
+ """Updates the params of agents, if an index of an agent is given, update only that agent's params
+
+ Parameters
+ ----------
+ params : dict
+ dictionary of params
+ agent_idx : int, optional
+ index for agent that needs param update, if negative, update all agents, by default -1
+
+ Raises
+ ------
+ IndexError
+ Index given is out of bounds for list of agents.
"""
self.params = params
if agent_idx < 0:
@@ -468,15 +436,7 @@ def update_params(self, params, agent_idx=-1):
raise IndexError("Index given is out of bounds for list of agents.")
def check_collision(self):
- """
- Checks for collision between agents using GJK and agents' body vertices
-
- Args:
- None
-
- Returns:
- None
- """
+ """Checks for collision between agents using GJK and agents' body vertices"""
# get vertices of all agents
all_vertices = np.empty((self.num_agents, 4, 2))
for i in range(self.num_agents):
@@ -488,14 +448,12 @@ def check_collision(self):
self.collisions, self.collision_idx = collision_multiple(all_vertices)
def step(self, control_inputs):
- """
- Steps the simulation environment
-
- Args:
- control_inputs (np.ndarray (num_agents, 2)): control inputs of all agents, first column is desired steering angle, second column is desired velocity
+ """Steps the simulation environment
- Returns:
- observations (dict): dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc.
+ Parameters
+ ----------
+ control_inputs : np.ndarray
+ control inputs of all agents, first column is desired steering angle, second column is desired velocity
"""
# looping over agents
@@ -526,16 +484,18 @@ def step(self, control_inputs):
self.collisions[i] = 1.0
def reset(self, poses):
- """
- Resets the simulation environment by given poses
+ """Resets the simulation environment by given poses
- Arges:
- poses (np.ndarray (num_agents, 3)): poses to reset agents to
+ Parameters
+ ----------
+ poses : np.ndarray
+ poses to reset agents to
- Returns:
- None
+ Raises
+ ------
+ ValueError
+ Number of poses for reset does not match number of agents.
"""
-
if poses.shape[0] != self.num_agents:
raise ValueError(
"Number of poses for reset does not match number of agents."
diff --git a/f1tenth_gym/envs/collision_models.py b/f1tenth_gym/envs/collision_models.py
index 87547ab6..bd6cec8d 100644
--- a/f1tenth_gym/envs/collision_models.py
+++ b/f1tenth_gym/envs/collision_models.py
@@ -1,46 +1,20 @@
-# MIT License
-
-# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-
-"""
-Prototype of Utility functions and GJK algorithm for Collision checks between vehicles
-Originally from https://github.com/kroitor/gjk.c
-Author: Hongrui Zheng
-"""
-
import numpy as np
from numba import njit
@njit(cache=True)
def perpendicular(pt):
- """
- Return a 2-vector's perpendicular vector
+ """Return a 2-vector's perpendicular vector
- Args:
- pt (np.ndarray, (2,)): input vector
+ Parameters
+ ----------
+ pt : np.ndarray
+ input vector
- Returns:
- pt (np.ndarray, (2,)): perpendicular vector
+ Returns
+ -------
+ np.ndarray
+ perpendicular vector
"""
temp = pt[0]
pt[0] = pt[1]
@@ -50,14 +24,21 @@ def perpendicular(pt):
@njit(cache=True)
def tripleProduct(a, b, c):
- """
- Return triple product of three vectors
-
- Args:
- a, b, c (np.ndarray, (2,)): input vectors
-
- Returns:
- (np.ndarray, (2,)): triple product
+ """Return triple product of three vectors
+
+ Parameters
+ ----------
+ a : np.ndarray
+ input vector
+ b : np.ndarray
+ input vector
+ c : np.ndarray
+ input vector
+
+ Returns
+ -------
+ np.ndarray
+ triple product
"""
ac = a.dot(c)
bc = b.dot(c)
@@ -66,44 +47,57 @@ def tripleProduct(a, b, c):
@njit(cache=True)
def avgPoint(vertices):
- """
- Return the average point of multiple vertices
+ """Return the average point of multiple vertices
- Args:
- vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
+ Parameters
+ ----------
+ vertices : np.ndarray
+ the vertices we want to find avg on
- Returns:
- avg (np.ndarray, (2,)): average point of the vertices
+ Returns
+ -------
+ np.ndarray
+ average point of the vertices
"""
return np.sum(vertices, axis=0) / vertices.shape[0]
@njit(cache=True)
def indexOfFurthestPoint(vertices, d):
- """
- Return the index of the vertex furthest away along a direction in the list of vertices
-
- Args:
- vertices (np.ndarray, (n, 2)): the vertices we want to find avg on
-
- Returns:
- idx (int): index of the furthest point
+ """Return the index of the vertex furthest away along a direction in the list of vertices
+
+ Parameters
+ ----------
+ vertices : np.ndarray
+ the vertices we want to find index on
+ d : np.ndarray
+ direction
+
+ Returns
+ -------
+ int
+ index of the furthest point
"""
return np.argmax(vertices.dot(d))
@njit(cache=True)
def support(vertices1, vertices2, d):
- """
- Minkowski sum support function for GJK
-
- Args:
- vertices1 (np.ndarray, (n, 2)): vertices of the first body
- vertices2 (np.ndarray, (n, 2)): vertices of the second body
- d (np.ndarray, (2, )): direction to find the support along
-
- Returns:
- support (np.ndarray, (n, 2)): Minkowski sum
+ """Minkowski sum support function for GJK
+
+ Parameters
+ ----------
+ vertices1 : np.ndarray
+ vertices of the first body
+ vertices2 : np.ndarray
+ vertices of the second body
+ d : np.ndarray
+ direction to find the support along
+
+ Returns
+ -------
+ np.ndarray
+ Minkowski sum
"""
i = indexOfFurthestPoint(vertices1, d)
j = indexOfFurthestPoint(vertices2, -d)
@@ -112,15 +106,19 @@ def support(vertices1, vertices2, d):
@njit(cache=True)
def collision(vertices1, vertices2):
- """
- GJK test to see whether two bodies overlap
-
- Args:
- vertices1 (np.ndarray, (n, 2)): vertices of the first body
- vertices2 (np.ndarray, (n, 2)): vertices of the second body
-
- Returns:
- overlap (boolean): True if two bodies collide
+ """GJK test to see whether two bodies overlap
+
+ Parameters
+ ----------
+ vertices1 : np.ndarray
+ vertices of the first body
+ vertices2 : np.ndarray
+ vertices of the second body
+
+ Returns
+ -------
+ boolean
+ True if two bodies collide
"""
index = 0
simplex = np.empty((3, 2))
@@ -184,15 +182,19 @@ def collision(vertices1, vertices2):
@njit(cache=True)
def collision_multiple(vertices):
- """
- Check pair-wise collisions for all provided vertices
-
- Args:
- vertices (np.ndarray (num_bodies, 4, 2)): all vertices for checking pair-wise collision
-
- Returns:
- collisions (np.ndarray (num_vertices, )): whether each body is in collision
- collision_idx (np.ndarray (num_vertices, )): which index of other body is each index's body is in collision, -1 if not in collision
+ """Check pair-wise collisions for all provided vertices
+
+ Parameters
+ ----------
+ vertices : np.ndarray
+ all vertices for checking pair-wise collision
+
+ Returns
+ -------
+ collisions : np.ndarray
+ whether each body is in collision
+ collision_idx : np.ndarray
+ which index of other body is each index's body is in collision, -1 if not in collision
"""
collisions = np.zeros((vertices.shape[0],))
collision_idx = -1 * np.ones((vertices.shape[0],))
@@ -213,21 +215,19 @@ def collision_multiple(vertices):
return collisions, collision_idx
-"""
-Utility functions for getting vertices by pose and shape
-"""
-
-
@njit(cache=True)
def get_trmtx(pose):
- """
- Get transformation matrix of vehicle frame -> global frame
+ """Get transformation matrix of vehicle frame -> global frame
- Args:
- pose (np.ndarray (3, )): current pose of the vehicle
+ Parameters
+ ----------
+ pose : np.ndarray
+ current pose of the vehicle
- return:
- H (np.ndarray (4, 4)): transformation matrix
+ Returns
+ -------
+ np.ndarray
+ transformation matrix
"""
x = pose[0]
y = pose[1]
@@ -247,16 +247,21 @@ def get_trmtx(pose):
@njit(cache=True)
def get_vertices(pose, length, width):
- """
- Utility function to return vertices of the car body given pose and size
-
- Args:
- pose (np.ndarray, (3, )): current world coordinate pose of the vehicle
- length (float): car length
- width (float): car width
-
- Returns:
- vertices (np.ndarray, (4, 2)): corner vertices of the vehicle body
+ """Utility function to return vertices of the car body given pose and size
+
+ Parameters
+ ----------
+ pose : np.ndarray
+ current world coordinate pose of the vehicle
+ length : float
+ car length
+ width : float
+ car width
+
+ Returns
+ -------
+ np.ndarray
+ corner vertices of the vehicle body
"""
H = get_trmtx(pose)
rl = H.dot(np.asarray([[-length / 2], [width / 2], [0.0], [1.0]])).flatten()
diff --git a/f1tenth_gym/envs/dynamic_models.py b/f1tenth_gym/envs/dynamic_models.py
index 790de252..57ac1b42 100644
--- a/f1tenth_gym/envs/dynamic_models.py
+++ b/f1tenth_gym/envs/dynamic_models.py
@@ -1,31 +1,3 @@
-# Copyright 2020 Technical University of Munich, Professorship of Cyber-Physical Systems, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-
-"""
-Prototype of vehicle dynamics functions and classes for simulating 2D Single
-Track dynamic model
-Following the implementation of commanroad's Single Track Dynamics model
-Original implementation: https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/
-Author: Hongrui Zheng, Renukanandan Tumu
-"""
import warnings
from enum import Enum
@@ -34,11 +6,37 @@
class DynamicModel(Enum):
+ """Enum for specifying dynamic models
+
+ KS: 1 (kinematic single track)
+
+ ST: 2 (single track)
+
+ """
+
KS = 1 # Kinematic Single Track
ST = 2 # Single Track
@staticmethod
def from_string(model: str):
+ """Set dynamic models from string.
+
+ Parameters
+ ----------
+ model : str
+ dynamic model type
+
+ Returns
+ -------
+ int
+ dynamic model type
+
+
+ Raises
+ ------
+ ValueError
+ Unknown model type
+ """
if model == "ks":
warnings.warn(
"Chosen model is KS. This is different from previous versions of the gym."
@@ -50,6 +48,23 @@ def from_string(model: str):
raise ValueError(f"Unknown model type {model}")
def get_initial_state(self, pose=None):
+ """Set initial dynamic state based on model
+
+ Parameters
+ ----------
+ pose : np.ndarray, optional
+ initial pose, by default None
+
+ Returns
+ -------
+ np.ndarray
+ initial state
+
+ Raises
+ ------
+ ValueError
+ Unknown model type
+ """
# initialize zero state
if self == DynamicModel.KS:
# state is [x, y, steer_angle, vel, yaw_angle]
@@ -69,6 +84,18 @@ def get_initial_state(self, pose=None):
@property
def f_dynamics(self):
+ """property, returns dynamics function
+
+ Returns
+ -------
+ Callable
+ dynamic function
+
+ Raises
+ ------
+ ValueError
+ Unknown model type
+ """
if self == DynamicModel.KS:
return vehicle_dynamics_ks
elif self == DynamicModel.ST:
@@ -79,16 +106,21 @@ def f_dynamics(self):
@njit(cache=True)
def upper_accel_limit(vel, a_max, v_switch):
- """
- Upper acceleration limit, adjusts the acceleration based on constraints
-
- Args:
- vel (float): current velocity of the vehicle
- a_max (float): maximum allowed acceleration, symmetrical
- v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
-
- Returns:
- positive_accel_limit (float): adjusted acceleration
+ """Upper acceleration limit, adjusts the acceleration based on constraints
+
+ Parameters
+ ----------
+ vel : float
+ current velocity of the vehicle
+ a_max : float
+ maximum allowed acceleration, symmetrical
+ v_switch : float
+ switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
+
+ Returns
+ -------
+ float
+ adjusted acceleration
"""
if vel > v_switch:
pos_limit = a_max * (v_switch / vel)
@@ -100,21 +132,28 @@ def upper_accel_limit(vel, a_max, v_switch):
@njit(cache=True)
def accl_constraints(vel, a_long_d, v_switch, a_max, v_min, v_max):
+ """Acceleration constraints, adjusts the acceleration based on constraints
+
+ Parameters
+ ----------
+ vel : float
+ current velocity of the vehicle
+ a_long_d : float
+ unconstrained desired acceleration in the direction of travel.
+ v_switch : float
+ switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
+ a_max : float
+ maximum allowed acceleration, symmetrical
+ v_min : float
+ minimum allowed velocity
+ v_max : float
+ maximum allowed velocity
+
+ Returns
+ -------
+ float
+ adjusted acceleration
"""
- Acceleration constraints, adjusts the acceleration based on constraints
-
- Args:
- vel (float): current velocity of the vehicle
- a_long_d (float): unconstrained desired acceleration in the direction of travel.
- v_switch (float): switching velocity (velocity at which the acceleration is no longer able to create wheel spin)
- a_max (float): maximum allowed acceleration, symmetrical
- v_min (float): minimum allowed velocity
- v_max (float): maximum allowed velocity
-
- Returns:
- accl (float): adjusted acceleration
- """
-
uac = upper_accel_limit(vel, a_max, v_switch)
if (vel <= v_min and a_long_d <= 0) or (vel >= v_max and a_long_d >= 0):
@@ -133,21 +172,28 @@ def accl_constraints(vel, a_long_d, v_switch, a_max, v_min, v_max):
def steering_constraint(
steering_angle, steering_velocity, s_min, s_max, sv_min, sv_max
):
+ """Steering constraints, adjusts the steering velocity based on constraints
+
+ Parameters
+ ----------
+ steering_angle : float
+ current steering_angle of the vehicle
+ steering_velocity : float
+ unconstraint desired steering_velocity
+ s_min : float
+ minimum steering angle
+ s_max : float
+ maximum steering angle
+ sv_min : float
+ minimum steering velocity
+ sv_max : float
+ maximum steering velocity
+
+ Returns
+ -------
+ float
+ adjusted steering velocity
"""
- Steering constraints, adjusts the steering velocity based on constraints
-
- Args:
- steering_angle (float): current steering_angle of the vehicle
- steering_velocity (float): unconstraint desired steering_velocity
- s_min (float): minimum steering angle
- s_max (float): maximum steering angle
- sv_min (float): minimum steering velocity
- sv_max (float): maximum steering velocity
-
- Returns:
- steering_velocity (float): adjusted steering velocity
- """
-
# constraint steering velocity
if (steering_angle <= s_min and steering_velocity <= 0) or (
steering_angle >= s_max and steering_velocity >= 0
@@ -182,39 +228,59 @@ def vehicle_dynamics_ks(
v_min,
v_max,
):
- """
- Single Track Kinematic Vehicle Dynamics.
+ """Kinematic Single Track Vehicle Dynamics.
Follows https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 5
- Args:
- x (numpy.ndarray (5, )): vehicle state vector (x0, x1, x2, x3, x4)
- x0: x position in global coordinates
- x1: y position in global coordinates
- x2: steering angle of front wheels
- x3: velocity in x direction
- x4: yaw angle
- u (numpy.ndarray (2, )): control input vector (u1, u2)
- u1: steering angle velocity of front wheels
- u2: longitudinal acceleration
- mu (float): friction coefficient
- C_Sf (float): cornering stiffness of front wheels
- C_Sr (float): cornering stiffness of rear wheels
- lf (float): distance from center of gravity to front axle
- lr (float): distance from center of gravity to rear axle
- h (float): height of center of gravity
- m (float): mass of vehicle
- I (float): moment of inertia of vehicle, about Z axis
- s_min (float): minimum steering angle
- s_max (float): maximum steering angle
- sv_min (float): minimum steering velocity
- sv_max (float): maximum steering velocity
- v_switch (float): velocity above which the acceleration is no longer able to create wheel slip
- a_max (float): maximum allowed acceleration
- v_min (float): minimum allowed velocity
- v_max (float): maximum allowed velocity
-
- Returns:
- f (numpy.ndarray): right hand side of differential equations
+ Parameters
+ ----------
+ x : np.ndarray
+ vehicle state vector (x0, x1, x2, x3, x4)
+ x0: x position in global coordinates
+ x1: y position in global coordinates
+ x2: steering angle of front wheels
+ x3: velocity in x direction
+ x4: yaw angle
+ u_init : np.ndarray
+ control input vector (u1, u2)
+ u1: steering angle velocity of front wheels
+ u2: longitudinal acceleration
+ mu : float
+ friction coefficient
+ C_Sf : float
+ cornering stiffness of front wheels
+ C_Sr : float
+ cornering stiffness of rear wheels
+ lf : float
+ distance from center of gravity to front axle
+ lr : float
+ distance from center of gravity to rear axle
+ h : float
+ height of center of gravity
+ m : float
+ mass of vehicle
+ I : float
+ moment of inertia of vehicle, about Z axis
+ s_min : float
+ minimum steering angle
+ s_max : float
+ maximum steering angle
+ sv_min : float
+ minimum steering velocity
+ sv_max : float
+ maximum steering velocity
+ v_switch : float
+ velocity above which the acceleration is no longer able to create wheel slip
+ a_max : float
+ maximum allowed acceleration
+ v_min : float
+ minimum allowed velocity
+ v_max : float
+ maximum allowed velocity
+
+ Returns
+ -------
+ np.ndarray
+ right hand side of differential equations
"""
# Controls
X = x[0]
@@ -273,41 +339,61 @@ def vehicle_dynamics_st(
v_min,
v_max,
):
- """
- Single Track Vehicle Dynamics.
+ """Single Track Vehicle Dynamics.
From https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/-/blob/master/vehicleModels_commonRoad.pdf, section 7
- Args:
- x (numpy.ndarray (7, )): vehicle state vector (x0, x1, x2, x3, x4, x5, x6)
- x0: x position in global coordinates
- x1: y position in global coordinates
- x2: steering angle of front wheels
- x3: velocity in x direction
- x4:yaw angle
- x5: yaw rate
- x6: slip angle at vehicle center
- u (numpy.ndarray (2, )): control input vector (u1, u2)
- u1: steering angle velocity of front wheels
- u2: longitudinal acceleration
- mu (float): friction coefficient
- C_Sf (float): cornering stiffness of front wheels
- C_Sr (float): cornering stiffness of rear wheels
- lf (float): distance from center of gravity to front axle
- lr (float): distance from center of gravity to rear axle
- h (float): height of center of gravity
- m (float): mass of vehicle
- I (float): moment of inertia of vehicle, about Z axis
- s_min (float): minimum steering angle
- s_max (float): maximum steering angle
- sv_min (float): minimum steering velocity
- sv_max (float): maximum steering velocity
- v_switch (float): velocity above which the acceleration is no longer able to create wheel spin
- a_max (float): maximum allowed acceleration
- v_min (float): minimum allowed velocity
- v_max (float): maximum allowed velocity
-
- Returns:
- f (numpy.ndarray): right hand side of differential equations
+ Parameters
+ ----------
+ x : np.ndarray
+ vehicle state vector (x0, x1, x2, x3, x4, x5, x6)
+ x0: x position in global coordinates
+ x1: y position in global coordinates
+ x2: steering angle of front wheels
+ x3: velocity in x direction
+ x4:yaw angle
+ x5: yaw rate
+ x6: slip angle at vehicle center
+ u_init : np.ndarray
+ control input vector (u1, u2)
+ u1: steering angle velocity of front wheels
+ u2: longitudinal acceleration
+ mu : float
+ friction coefficient
+ C_Sf : float
+ cornering stiffness of front wheels
+ C_Sr : float
+ cornering stiffness of rear wheels
+ lf : float
+ distance from center of gravity to front axle
+ lr : float
+ distance from center of gravity to rear axle
+ h : float
+ height of center of gravity
+ m : float
+ mass of vehicle
+ I : float
+ moment of inertia of vehicle, about Z axis
+ s_min : float
+ minimum steering angle
+ s_max : float
+ maximum steering angle
+ sv_min : float
+ minimum steering velocity
+ sv_max : float
+ maximum steering velocity
+ v_switch : float
+ velocity above which the acceleration is no longer able to create wheel slip
+ a_max : float
+ maximum allowed acceleration
+ v_min : float
+ minimum allowed velocity
+ v_max : float
+ maximum allowed velocity
+
+ Returns
+ -------
+ np.ndarray
+ right hand side of differential equations
"""
# States
X = x[0]
@@ -402,6 +488,22 @@ def vehicle_dynamics_st(
@njit(cache=True)
def pid_steer(steer, current_steer, max_sv):
+ """PID control for steering angle to steering velocity
+
+ Parameters
+ ----------
+ steer : float
+ requested steering angle
+ current_steer : float
+ current steering angle
+ max_sv : float
+ maximum steering velocity
+
+ Returns
+ -------
+ float
+ steering velocity
+ """
# steering
steer_diff = steer - current_steer
if np.fabs(steer_diff) > 1e-4:
@@ -414,16 +516,25 @@ def pid_steer(steer, current_steer, max_sv):
@njit(cache=True)
def pid_accl(speed, current_speed, max_a, max_v, min_v):
- """
- Basic controller for speed/steer -> accl./steer vel.
-
- Args:
- speed (float): desired input speed
- steer (float): desired input steering angle
-
- Returns:
- accl (float): desired input acceleration
- sv (float): desired input steering velocity
+ """PID control for speed to acceleration
+
+ Parameters
+ ----------
+ speed : float
+ requested speed
+ current_speed : float
+ current speed
+ max_a : float
+ maximum acceleration
+ max_v : float
+ maximum velocity
+ min_v : float
+ minimum velocity
+
+ Returns
+ -------
+ float
+ acceleration
"""
# accl
vel_diff = speed - current_speed
diff --git a/f1tenth_gym/envs/integrator.py b/f1tenth_gym/envs/integrator.py
index bfc796be..a597a010 100644
--- a/f1tenth_gym/envs/integrator.py
+++ b/f1tenth_gym/envs/integrator.py
@@ -3,11 +3,35 @@
class IntegratorType(Enum):
+ """Integrator enum
+
+ RK4: 1
+
+ Euler: 2
+ """
+
RK4 = 1
Euler = 2
@staticmethod
def from_string(integrator: str):
+ """Set integrator by string
+
+ Parameters
+ ----------
+ integrator : str
+ integrator type
+
+ Returns
+ -------
+ RK4Integrator | EulerIntegrator
+ integrator object
+
+ Raises
+ ------
+ ValueError
+ Unknown integrator type
+ """
if integrator == "rk4":
return RK4Integrator()
elif integrator == "euler":
@@ -17,24 +41,74 @@ def from_string(integrator: str):
class Integrator:
+ """Integrator abstract class"""
+
def __init__(self) -> None:
self._integrator_type = None
@abstractmethod
def integrate(self, f, x, u, dt, params):
+ """Integrate dynamics
+
+ Parameters
+ ----------
+ f : np.ndarray
+ RHS of ODE
+ x : np.ndarray
+ state
+ u : np.ndarray
+ control input
+ dt : float
+ sampling time
+ params : dict
+ parameter dictionary
+
+ Raises
+ ------
+ NotImplementedError
+ """
raise NotImplementedError("integrate method not implemented")
@property
def type(self) -> str:
+ """property, integrator type
+
+ Returns
+ -------
+ str
+ type
+ """
return self._integrator_type
class RK4Integrator(Integrator):
+ """Runge Kutta fourth order integrator"""
+
def __init__(self) -> None:
super().__init__()
self._integrator_type = "rk4"
def integrate(self, f, x, u, dt, params):
+ """Integrate dynamics
+
+ Parameters
+ ----------
+ f : np.ndarray
+ RHS of ODE
+ x : np.ndarray
+ state
+ u : np.ndarray
+ control input
+ dt : float
+ sampling time
+ params : dict
+ parameter dictionary
+
+ Returns
+ -------
+ np.ndarray:
+ integrated state
+ """
k1 = f(
x,
u,
@@ -131,11 +205,33 @@ def integrate(self, f, x, u, dt, params):
class EulerIntegrator(Integrator):
+ """Euler integrator"""
+
def __init__(self) -> None:
super().__init__()
self._integrator_type = "euler"
def integrate(self, f, x, u, dt, params):
+ """Integrate dynamics
+
+ Parameters
+ ----------
+ f : np.ndarray
+ RHS of ODE
+ x : np.ndarray
+ state
+ u : np.ndarray
+ control input
+ dt : float
+ sampling time
+ params : dict
+ parameter dictionary
+
+ Returns
+ -------
+ np.ndarray:
+ integrated state
+ """
dstate = f(
x,
u,
diff --git a/f1tenth_gym/envs/laser_models.py b/f1tenth_gym/envs/laser_models.py
index 8d3c2e9b..b72bdd1f 100644
--- a/f1tenth_gym/envs/laser_models.py
+++ b/f1tenth_gym/envs/laser_models.py
@@ -1,30 +1,3 @@
-# MIT License
-
-# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-
-"""
-Prototype of Utility functions and classes for simulating 2D LIDAR scans
-Author: Hongrui Zheng
-"""
from __future__ import annotations
import unittest
@@ -35,16 +8,20 @@
def get_dt(bitmap, resolution):
- """
- Distance transformation, returns the distance matrix from the input bitmap.
+ """Distance transformation, returns the distance matrix from the input bitmap.
Uses scipy.ndimage, cannot be JITted.
- Args:
- bitmap (numpy.ndarray, (n, m)): input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace
- resolution (float): resolution of the input bitmap (m/cell)
-
- Returns:
- dt (numpy.ndarray, (n, m)): output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle
+ Parameters
+ ----------
+ bitmap : np.ndarray
+ input binary bitmap of the environment, where 0 is obstacles, and 255 (or anything > 0) is freespace
+ resolution : float
+ resolution of the input bitmap (m/cell)
+
+ Returns
+ -------
+ np.ndarray
+ output distance matrix, where each cell has the corresponding distance (in meters) to the closest obstacle
"""
dt = resolution * edt(bitmap)
return dt
@@ -52,18 +29,35 @@ def get_dt(bitmap, resolution):
@njit(cache=True)
def xy_2_rc(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution):
- """
- Translate (x, y) coordinate into (r, c) in the matrix
-
- Args:
- x (float): coordinate in x (m)
- y (float): coordinate in y (m)
- orig_x (float): x coordinate of the map origin (m)
- orig_y (float): y coordinate of the map origin (m)
-
- Returns:
- r (int): row number in the transform matrix of the given point
- c (int): column number in the transform matrix of the given point
+ """Translate (x, y) coordinate into (r, c) in the matrix
+
+ Parameters
+ ----------
+ x : float
+ coordinate in x (m)
+ y : float
+ coordinate in y (m)
+ orig_x : float
+ x coordinate of the map origin (m)
+ orig_y : float
+ y coordinate of the map origin (m)
+ orig_c : float
+ cosine of the map origin rotation
+ orig_s : float
+ sine of the map origin rotation
+ height : int
+ height of map (pixel)
+ width : int
+ width of map (pixel)
+ resolution : float
+ resolution of the input bitmap (m/cell)
+
+ Returns
+ -------
+ r : int
+ row index
+ c : int
+ column index
"""
# translation
x_trans = x - orig_x
@@ -93,17 +87,35 @@ def xy_2_rc(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution):
def distance_transform(
x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution, dt
):
- """
- Look up corresponding distance in the distance matrix
-
- Args:
- x (float): x coordinate of the lookup point
- y (float): y coordinate of the lookup point
- orig_x (float): x coordinate of the map origin (m)
- orig_y (float): y coordinate of the map origin (m)
-
- Returns:
- distance (float): corresponding shortest distance to obstacle in meters
+ """Look up corresponding distance in the distance transform matrix
+
+ Parameters
+ ----------
+ x : _type_
+ x coordinate of the lookup point
+ y : _type_
+ y coordinate of the lookup point
+ orig_x : _type_
+ x coordinate of the map origin (m)
+ orig_y : _type_
+ y coordinate of the map origin (m)
+ orig_c : _type_
+ cosine of the map origin rotation
+ orig_s : _type_
+ sine of the map origin rotation
+ height : _type_
+ map height
+ width : _type_
+ map width
+ resolution : _type_
+ resolution of the input bitmap (m/cell)
+ dt : _type_
+ distance transform matrix
+
+ Returns
+ -------
+ float
+ distance to closest obstacle from the look up point
"""
r, c = xy_2_rc(x, y, orig_x, orig_y, orig_c, orig_s, height, width, resolution)
distance = dt[r, c]
@@ -128,21 +140,46 @@ def trace_ray(
dt,
max_range,
):
+ """Find the length of a specific ray at a specific scan angle theta.
+
+ Parameters
+ ----------
+ x : float
+ current x coordinate of the ego (scan) frame
+ y : float
+ current y coordinate of the ego (scan) frame
+ theta_index : int
+ current index of the scan beam in the scan range
+ sines : np.ndarray
+ pre-calculated sines of the angle array
+ cosines : np.ndarray
+ pre-calculated cosines of the angle array
+ eps : float
+ tolerance to stop ray tracing
+ orig_x : _type_
+ x coordinate of the map origin (m)
+ orig_y : _type_
+ y coordinate of the map origin (m)
+ orig_c : _type_
+ cosine of the map origin rotation
+ orig_s : _type_
+ sine of the map origin rotation
+ height : _type_
+ map height
+ width : _type_
+ map width
+ resolution : _type_
+ resolution of the input bitmap (m/cell)
+ dt : _type_
+ distance transform matrix
+ max_range : float
+ maximum range for laser scan rays
+
+ Returns
+ -------
+ float
+ ray distance
"""
- Find the length of a specific ray at a specific scan angle theta
- Purely math calculation and loops, should be JITted.
-
- Args:
- x (float): current x coordinate of the ego (scan) frame
- y (float): current y coordinate of the ego (scan) frame
- theta_index(int): current index of the scan beam in the scan range
- sines (numpy.ndarray (n, )): pre-calculated sines of the angle array
- cosines (numpy.ndarray (n, )): pre-calculated cosines ...
-
- Returns:
- total_distance (float): the distance to first obstacle on the current scan beam
- """
-
# int casting, and index precal trigs
theta_index_ = int(theta_index)
s = sines[theta_index_]
@@ -193,18 +230,49 @@ def get_scan(
dt,
max_range,
):
- """
- Perform the scan for each discretized angle of each beam of the laser, loop heavy, should be JITted
-
- Args:
- pose (numpy.ndarray(3, )): current pose of the scan frame in the map
- theta_dis (int): number of steps to discretize the angles between 0 and 2pi for look up
- fov (float): field of view of the laser scan
- num_beams (int): number of beams in the scan
- theta_index_increment (float): increment between angle indices after discretization
-
- Returns:
- scan (numpy.ndarray(n, )): resulting laser scan at the pose, n=num_beams
+ """Perform the scan for each discretized angle of each beam of the laser
+
+ Parameters
+ ----------
+ pose : np.ndarray
+ current pose of the scan frame in the map
+ theta_dis : int
+ number of steps to discretize the angles between 0 and 2pi for look up
+ fov : float
+ field of view of the laser scan
+ num_beams : int
+ number of beams in the scan
+ theta_index_increment : float
+ increment between angle indices after discretization
+ sines : np.ndarray
+ pre-calculated sines of the angle array
+ cosines : np.ndarray
+ pre-calculated cosines of the angle array
+ eps : float
+ tolerance to stop ray tracing
+ orig_x : _type_
+ x coordinate of the map origin (m)
+ orig_y : _type_
+ y coordinate of the map origin (m)
+ orig_c : _type_
+ cosine of the map origin rotation
+ orig_s : _type_
+ sine of the map origin rotation
+ height : _type_
+ map height
+ width : _type_
+ map width
+ resolution : _type_
+ resolution of the input bitmap (m/cell)
+ dt : _type_
+ distance transform matrix
+ max_range : float
+ maximum range for laser scan rays
+
+ Returns
+ -------
+ np.ndarray
+ resulting laser scan at the pose
"""
# empty scan array init
scan = np.empty((num_beams,))
@@ -250,20 +318,27 @@ def get_scan(
@njit(cache=True, error_model="numpy")
def check_ttc_jit(scan, vel, scan_angles, cosines, side_distances, ttc_thresh):
- """
- Checks the iTTC of each beam in a scan for collision with environment
-
- Args:
- scan (np.ndarray(num_beams, )): current scan to check
- vel (float): current velocity
- scan_angles (np.ndarray(num_beams, )): precomped angles of each beam
- cosines (np.ndarray(num_beams, )): precomped cosines of the scan angles
- side_distances (np.ndarray(num_beams, )): precomped distances at each beam from the laser to the sides of the car
- ttc_thresh (float): threshold for iTTC for collision
-
- Returns:
- in_collision (bool): whether vehicle is in collision with environment
- collision_angle (float): at which angle the collision happened
+ """Checks the iTTC of each beam in a scan for collision with environment
+
+ Parameters
+ ----------
+ scan : np.ndarray
+ current scan to check
+ vel : float
+ current velocity
+ scan_angles : np.ndarray
+ precomped angles of each beam
+ cosines : np.ndarray
+ precomped cosines of the scan angles
+ side_distances : np.ndarray
+ precomped distances at each beam from the laser to the sides of the car
+ ttc_thresh : float
+ threshold for iTTC for collision
+
+ Returns
+ -------
+ bool
+ if scan indicates collision
"""
in_collision = False
if vel != 0.0:
@@ -282,28 +357,40 @@ def check_ttc_jit(scan, vel, scan_angles, cosines, side_distances, ttc_thresh):
@njit(cache=True)
def cross(v1, v2):
- """
- Cross product of two 2-vectors
-
- Args:
- v1, v2 (np.ndarray(2, )): input vectors
-
- Returns:
- crossproduct (float): cross product
+ """Cross product of two 2-vectors
+
+ Parameters
+ ----------
+ v1 : np.ndarray
+ input vector 1
+ v2 : np.ndarray
+ input vector 2
+
+ Returns
+ -------
+ float
+ cross product
"""
return v1[0] * v2[1] - v1[1] * v2[0]
@njit(cache=True)
def are_collinear(pt_a, pt_b, pt_c):
- """
- Checks if three points are collinear in 2D
-
- Args:
- pt_a, pt_b, pt_c (np.ndarray(2, )): points to check in 2D
-
- Returns:
- col (bool): whether three points are collinear
+ """Checks if three points are collinear in 2D
+
+ Parameters
+ ----------
+ pt_a : np.ndarray
+ point to check in 2D
+ pt_b : np.ndarray
+ point to check in 2D
+ pt_c : np.ndarray
+ point to check in 2D
+
+ Returns
+ -------
+ bool
+ whether three points are collinear
"""
tol = 1e-8
ba = pt_b - pt_a
@@ -314,16 +401,23 @@ def are_collinear(pt_a, pt_b, pt_c):
@njit(cache=True)
def get_range(pose, beam_theta, va, vb):
- """
- Get the distance at a beam angle to the vector formed by two of the four vertices of a vehicle
-
- Args:
- pose (np.ndarray(3, )): pose of the scanning vehicle
- beam_theta (float): angle of the current beam (world frame)
- va, vb (np.ndarray(2, )): the two vertices forming an edge
-
- Returns:
- distance (float): smallest distance at beam theta from scanning pose to edge
+ """Get the distance at a beam angle to the vector formed by two of the four vertices of a vehicle
+
+ Parameters
+ ----------
+ pose : np.ndarray
+ pose of the scanning vehicle
+ beam_theta : float
+ angle of the current beam (world frame)
+ va : np.ndarray
+ the two vertices forming an edge
+ vb : np.ndarray
+ the two vertices forming an edge
+
+ Returns
+ -------
+ float
+ smallest distance at beam theta from scanning pose to edge
"""
o = pose[0:2]
v1 = o - va
@@ -348,13 +442,23 @@ def get_range(pose, beam_theta, va, vb):
@njit(cache=True)
def get_blocked_view_indices(pose, vertices, scan_angles):
- """
- Get the indices of the start and end of blocked fov in scans by another vehicle
-
- Args:
- pose (np.ndarray(3, )): pose of the scanning vehicle
- vertices (np.ndarray(4, 2)): four vertices of a vehicle pose
- scan_angles (np.ndarray(num_beams, )): corresponding beam angles
+ """Get the indices of the start and end of blocked fov in scans by another vehicle
+
+ Parameters
+ ----------
+ pose : np.ndarray
+ pose of the scanning vehicle
+ vertices : np.ndarray
+ four vertices of a vehicle pose
+ scan_angles : np.ndarray
+ corresponding beam angles
+
+ Returns
+ -------
+ min_ind : int
+ smaller index of blocked portion of laser scan array
+ max_ind : int
+ larger index of blocked portion of laser scan array
"""
# find four vectors formed by pose and 4 vertices:
vecs = vertices - pose[:2]
@@ -386,17 +490,23 @@ def get_blocked_view_indices(pose, vertices, scan_angles):
@njit(cache=True)
def ray_cast(pose, scan, scan_angles, vertices):
- """
- Modify a scan by ray casting onto another agent's four vertices
-
- Args:
- pose (np.ndarray(3, )): pose of the vehicle performing scan
- scan (np.ndarray(num_beams, )): original scan to modify
- scan_angles (np.ndarray(num_beams, )): corresponding beam angles
- vertices (np.ndarray(4, 2)): four vertices of a vehicle pose
-
- Returns:
- new_scan (np.ndarray(num_beams, )): modified scan
+ """Modify a scan by ray casting onto another agent's four vertices
+
+ Parameters
+ ----------
+ pose : np.ndarray
+ pose of the vehicle performing scan
+ scan : np.ndarray
+ original scan to modify
+ scan_angles : np.ndarray
+ corresponding beam angles
+ vertices : np.ndarray
+ four vertices of a vehicle pose
+
+ Returns
+ -------
+ np.ndarray
+ modified scan
"""
# pad vertices so loops around
looped_vertices = np.empty((5, 2))
@@ -421,15 +531,20 @@ def ray_cast(pose, scan, scan_angles, vertices):
class ScanSimulator2D(object):
- """
- 2D LIDAR scan simulator class
-
- Init params:
- num_beams (int): number of beams in the scan
- fov (float): field of view of the laser scan
- eps (float, default=0.0001): ray tracing iteration termination condition
- theta_dis (int, default=2000): number of steps to discretize the angles between 0 and 2pi for look up
- max_range (float, default=30.0): maximum range of the laser
+ """2D LIDAR scan simulator class
+
+ Parameters
+ ----------
+ num_beams : int
+ number of beams in the scan
+ fov : float
+ field of view of the laser scan
+ eps : float, optional
+ ray tracing iteration termination condition, by default 0.0001
+ theta_dis : int, optional
+ number of steps to discretize the angles between 0 and 2pi for look up, by default 2000
+ max_range : float, optional
+ maximum range of the laser, by default 30.0
"""
def __init__(self, num_beams, fov, eps=0.0001, theta_dis=2000, max_range=30.0):
@@ -459,14 +574,17 @@ def __init__(self, num_beams, fov, eps=0.0001, theta_dis=2000, max_range=30.0):
self.cosines = np.cos(theta_arr)
def set_map(self, map: str | Track):
- """
- Set the bitmap of the scan simulator by path
+ """Set the bitmap of the scan simulator by path
- Args:
- map (str | Track): path to the map file, or Track object
+ Parameters
+ ----------
+ map : str | Track
+ path to the map file, or Track object
- Returns:
- flag (bool): if image reading and loading is successful
+ Returns
+ -------
+ bool
+ if image reading and loading is successful
"""
if isinstance(map, str):
self.track = Track.from_track_name(map)
@@ -493,21 +611,27 @@ def set_map(self, map: str | Track):
return True
def scan(self, pose, rng, std_dev=0.01):
+ """Perform simulated 2D scan by pose on the given map
+
+ Parameters
+ ----------
+ pose : np.ndarray
+ pose of the scan frame (x, y, theta)
+ rng : np.random.Generator
+ random number generator to use for whitenoise in scan
+ std_dev : float, optional
+ standard deviation of the generated whitenoise in the scan, by default 0.01
+
+ Returns
+ -------
+ np.ndarray
+ data array of the laserscan
+
+ Raises
+ ------
+ ValueError
+ Map is not set for scan simulator.
"""
- Perform simulated 2D scan by pose on the given map
-
- Args:
- pose (numpy.ndarray (3, )): pose of the scan frame (x, y, theta)
- rng (numpy.random.Generator): random number generator to use for whitenoise in scan, or None
- std_dev (float, default=0.01): standard deviation of the generated whitenoise in the scan
-
- Returns:
- scan (numpy.ndarray (n, )): data array of the laserscan, n=num_beams
-
- Raises:
- ValueError: when scan is called before a map is set
- """
-
if self.map_height is None:
raise ValueError("Map is not set for scan simulator.")
@@ -538,12 +662,20 @@ def scan(self, pose, rng, std_dev=0.01):
return scan
def get_increment(self):
+ """Return angle increment between scans
+
+ Returns
+ -------
+ float
+ angle increment
+ """
return self.angle_increment
"""
Unit test for the 2D scan simulator class
Author: Hongrui Zheng
+TODO: do we still need these?
Test cases:
1, 2: Comparison between generated scan array of the new simulator and the legacy C++ simulator, generated data used, MSE is used as the metric
diff --git a/f1tenth_gym/envs/observation.py b/f1tenth_gym/envs/observation.py
index 263f8260..ae3a706a 100644
--- a/f1tenth_gym/envs/observation.py
+++ b/f1tenth_gym/envs/observation.py
@@ -7,31 +7,62 @@
class Observation:
- """
- Abstract class for observations. Each observation must implement the space and observe methods.
+ """Observation abstract class
- :param env: The environment.
- :param vehicle_id: The id of the observer vehicle.
- :param kwargs: Additional arguments.
+ Parameters
+ ----------
+ env : gym.Env
+ Gymnasium environment
"""
-
def __init__(self, env):
self.env = env
@abstractmethod
def space(self):
+ """Observation space
+
+ Raises
+ ------
+ NotImplementedError
+ """
raise NotImplementedError()
@abstractmethod
def observe(self):
+ """Observe
+
+ Raises
+ ------
+ NotImplementedError
+ """
raise NotImplementedError()
class OriginalObservation(Observation):
+ """Original Observation class
+
+ Parameters
+ ----------
+ env : gym.Env
+ Gymnasium environment
+ """
def __init__(self, env):
super().__init__(env)
def space(self):
+ """Return observation space
+
+ Original Observations is a dict with keys:
+
+ >>> [ego_idx, scans, poses_x, poses_y, poses_theta, linear_vels_x, linear_vels_y, ang_vels_z, collisions, lap_times, lap_counts]
+
+ Each value is a list of observations corresponding to the agents.
+
+ Returns
+ -------
+ gym.spaces.Space
+ observation space
+ """
num_agents = self.env.num_agents
scan_size = self.env.sim.agents[0].scan_simulator.num_beams
scan_range = (
@@ -99,6 +130,13 @@ def space(self):
return obs_space
def observe(self):
+ """Observe function
+
+ Returns
+ -------
+ dict
+ Current observation
+ """
# state indices
xi, yi, deltai, vxi, yawi, yaw_ratei, slipi = range(
7
@@ -152,11 +190,31 @@ def observe(self):
class FeaturesObservation(Observation):
+ """Feature Observation class
+
+ Parameters
+ ----------
+ env : gym.Env
+ Gymnasium environment
+ """
def __init__(self, env, features: List[str]):
super().__init__(env)
self.features = features
def space(self):
+ """Return observation space
+
+ Feature Observations is a dict with agent_ids as keys
+
+ And each value is a dict with keys:
+
+ >>> [scan, pose_x, pose_y, pose_theta, linear_vel_x, linear_vel_y, ang_vel_z, delta, beta, collision, lap_time, lap_count]
+
+ Returns
+ -------
+ gym.spaces.Space
+ observation space
+ """
scan_size = self.env.sim.agents[0].scan_simulator.num_beams
scan_range = self.env.sim.agents[0].scan_simulator.max_range
large_num = 1e30 # large number to avoid unbounded obs space (ie., low=-inf or high=inf)
@@ -209,6 +267,13 @@ def space(self):
return obs_space
def observe(self):
+ """Observe function
+
+ Returns
+ -------
+ dict
+ Current observation
+ """
# state indices
xi, yi, deltai, vxi, yawi, yaw_ratei, slipi = range(
7
@@ -264,6 +329,25 @@ def observe(self):
def observation_factory(env, type: str | None, **kwargs) -> Observation:
+ """Decides which observation type and keys to include based on type string
+
+ Parameters
+ ----------
+ env : gym.Env
+ Gymnasium environment
+ type : str | None
+ Observation type
+
+ Returns
+ -------
+ Observation
+ Observation type
+
+ Raises
+ ------
+ ValueError
+ Invalid observation type
+ """
type = type or "original"
if type == "original":
diff --git a/f1tenth_gym/envs/utils.py b/f1tenth_gym/envs/utils.py
index 4bed0ca9..cd82e3aa 100644
--- a/f1tenth_gym/envs/utils.py
+++ b/f1tenth_gym/envs/utils.py
@@ -6,9 +6,17 @@
def deep_update(
mapping: Dict[KeyType, Any], *updating_mappings: Dict[KeyType, Any]
) -> Dict[KeyType, Any]:
- """
- Dictionary deep update for nested dictionaries from pydantic:
- https://github.com/pydantic/pydantic/blob/fd2991fe6a73819b48c906e3c3274e8e47d0f761/pydantic/utils.py#L200
+ """Recursive update of dict from pydantic: https://github.com/pydantic/pydantic/blob/fd2991fe6a73819b48c906e3c3274e8e47d0f761/pydantic/utils.py#L200
+
+ Parameters
+ ----------
+ mapping : Dict[KeyType, Any]
+ mapping of original dict
+
+ Returns
+ -------
+ Dict[KeyType, Any]
+ updated dict
"""
updated_mapping = mapping.copy()
for updating_mapping in updating_mappings:
diff --git a/poetry.lock b/poetry.lock
index c6f66176..22bd2500 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -44,6 +44,41 @@ files = [
pyflakes = ">=3.0.0"
tomli = {version = ">=2.0.1", markers = "python_version < \"3.11\""}
+[[package]]
+name = "babel"
+version = "2.14.0"
+description = "Internationalization utilities"
+optional = false
+python-versions = ">=3.7"
+files = [
+ {file = "Babel-2.14.0-py3-none-any.whl", hash = "sha256:efb1a25b7118e67ce3a259bed20545c29cb68be8ad2c784c83689981b7a57287"},
+ {file = "Babel-2.14.0.tar.gz", hash = "sha256:6919867db036398ba21eb5c7a0f6b28ab8cbc3ae7a73a44ebe34ae74a4e7d363"},
+]
+
+[package.extras]
+dev = ["freezegun (>=1.0,<2.0)", "pytest (>=6.0)", "pytest-cov"]
+
+[[package]]
+name = "beautifulsoup4"
+version = "4.12.3"
+description = "Screen-scraping library"
+optional = false
+python-versions = ">=3.6.0"
+files = [
+ {file = "beautifulsoup4-4.12.3-py3-none-any.whl", hash = "sha256:b80878c9f40111313e55da8ba20bdba06d8fa3969fc68304167741bbf9e082ed"},
+ {file = "beautifulsoup4-4.12.3.tar.gz", hash = "sha256:74e3d1928edc070d21748185c46e3fb33490f22f52a3addee9aee0f4f7781051"},
+]
+
+[package.dependencies]
+soupsieve = ">1.2"
+
+[package.extras]
+cchardet = ["cchardet"]
+chardet = ["chardet"]
+charset-normalizer = ["charset-normalizer"]
+html5lib = ["html5lib"]
+lxml = ["lxml"]
+
[[package]]
name = "black"
version = "23.12.1"
@@ -452,6 +487,17 @@ files = [
{file = "decorator-5.1.1.tar.gz", hash = "sha256:637996211036b6385ef91435e4fae22989472f9d571faba8927ba8253acbc330"},
]
+[[package]]
+name = "docutils"
+version = "0.20.1"
+description = "Docutils -- Python Documentation Utilities"
+optional = false
+python-versions = ">=3.7"
+files = [
+ {file = "docutils-0.20.1-py3-none-any.whl", hash = "sha256:96f387a2c5562db4476f09f13bbab2192e764cac08ebbf3a34a95d9b1e4a59d6"},
+ {file = "docutils-0.20.1.tar.gz", hash = "sha256:f08a4e276c3a1583a86dce3e34aba3fe04d02bba2dd51ed16106244e8a923e3b"},
+]
+
[[package]]
name = "exceptiongroup"
version = "1.2.0"
@@ -614,6 +660,17 @@ files = [
{file = "idna-3.6.tar.gz", hash = "sha256:9ecdbbd083b06798ae1e86adcbfe8ab1479cf864e4ee30fe4e46a003d12491ca"},
]
+[[package]]
+name = "imagesize"
+version = "1.4.1"
+description = "Getting image size from png/jpeg/jpeg2000/gif file"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+ {file = "imagesize-1.4.1-py2.py3-none-any.whl", hash = "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b"},
+ {file = "imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a"},
+]
+
[[package]]
name = "importlib-metadata"
version = "7.0.1"
@@ -765,6 +822,23 @@ docs = ["Jinja2 (==2.11.3)", "MarkupSafe (==1.1.1)", "Pygments (==2.8.1)", "alab
qa = ["flake8 (==5.0.4)", "mypy (==0.971)", "types-setuptools (==67.2.0.1)"]
testing = ["Django", "attrs", "colorama", "docopt", "pytest (<7.0.0)"]
+[[package]]
+name = "jinja2"
+version = "3.1.3"
+description = "A very fast and expressive template engine."
+optional = false
+python-versions = ">=3.7"
+files = [
+ {file = "Jinja2-3.1.3-py3-none-any.whl", hash = "sha256:7d6d50dd97d52cbc355597bd845fabfbac3f551e1f99619e39a35ce8c370b5fa"},
+ {file = "Jinja2-3.1.3.tar.gz", hash = "sha256:ac8bd6544d4bb2c9792bf3a159e80bba8fda7f07e81bc3aed565432d5925ba90"},
+]
+
+[package.dependencies]
+MarkupSafe = ">=2.0"
+
+[package.extras]
+i18n = ["Babel (>=2.7)"]
+
[[package]]
name = "jupyter-client"
version = "8.6.0"
@@ -951,6 +1025,75 @@ files = [
{file = "llvmlite-0.42.0.tar.gz", hash = "sha256:f92b09243c0cc3f457da8b983f67bd8e1295d0f5b3746c7a1861d7a99403854a"},
]
+[[package]]
+name = "markupsafe"
+version = "2.1.5"
+description = "Safely add untrusted strings to HTML/XML markup."
+optional = false
+python-versions = ">=3.7"
+files = [
+ {file = "MarkupSafe-2.1.5-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:a17a92de5231666cfbe003f0e4b9b3a7ae3afb1ec2845aadc2bacc93ff85febc"},
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+]
+
[[package]]
name = "marshmallow"
version = "3.21.0"
@@ -1134,6 +1277,28 @@ files = [
{file = "numpy-1.25.0.tar.gz", hash = "sha256:f1accae9a28dc3cda46a91de86acf69de0d1b5f4edd44a9b0c3ceb8036dfff19"},
]
+[[package]]
+name = "numpydoc"
+version = "1.6.0"
+description = "Sphinx extension to support docstrings in Numpy format"
+optional = false
+python-versions = ">=3.8"
+files = [
+ {file = "numpydoc-1.6.0-py3-none-any.whl", hash = "sha256:b6ddaa654a52bdf967763c1e773be41f1c3ae3da39ee0de973f2680048acafaa"},
+ {file = "numpydoc-1.6.0.tar.gz", hash = "sha256:ae7a5380f0a06373c3afe16ccd15bd79bc6b07f2704cbc6f1e7ecc94b4f5fc0d"},
+]
+
+[package.dependencies]
+Jinja2 = ">=2.10"
+sphinx = ">=5"
+tabulate = ">=0.8.10"
+tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
+
+[package.extras]
+developer = ["pre-commit (>=3.3)", "tomli"]
+doc = ["matplotlib (>=3.5)", "numpy (>=1.22)", "pydata-sphinx-theme (>=0.13.3)", "sphinx (>=7)"]
+test = ["matplotlib", "pytest", "pytest-cov"]
+
[[package]]
name = "opencv-python"
version = "4.9.0.80"
@@ -1414,6 +1579,33 @@ files = [
{file = "pycparser-2.21.tar.gz", hash = "sha256:e644fdec12f7872f86c58ff790da456218b10f863970249516d60a5eaca77206"},
]
+[[package]]
+name = "pydata-sphinx-theme"
+version = "0.15.2"
+description = "Bootstrap-based Sphinx theme from the PyData community"
+optional = false
+python-versions = ">=3.9"
+files = [
+ {file = "pydata_sphinx_theme-0.15.2-py3-none-any.whl", hash = "sha256:0c5fa1fa98a9b26dae590666ff576f27e26c7ba708fee754ecb9e07359ed4588"},
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+]
+
+[package.dependencies]
+accessible-pygments = "*"
+Babel = "*"
+beautifulsoup4 = "*"
+docutils = "!=0.17.0"
+packaging = "*"
+pygments = ">=2.7"
+sphinx = ">=5.0"
+typing-extensions = "*"
+
+[package.extras]
+a11y = ["pytest-playwright"]
+dev = ["nox", "pre-commit", "pydata-sphinx-theme[doc,test]", "pyyaml"]
+doc = ["ablog (>=0.11.0rc2)", "colorama", "ipykernel", "ipyleaflet", "jupyter_sphinx", "jupyterlite-sphinx", "linkify-it-py", "matplotlib", "myst-parser", "nbsphinx", "numpy", "numpydoc", "pandas", "plotly", "rich", "sphinx-autoapi (>=3.0.0)", "sphinx-copybutton", "sphinx-design", "sphinx-favicon (>=1.0.1)", "sphinx-sitemap", "sphinx-togglebutton", "sphinxcontrib-youtube (<1.4)", "sphinxext-rediraffe", "xarray"]
+test = ["pytest", "pytest-cov", "pytest-regressions"]
+
[[package]]
name = "pyflakes"
version = "3.2.0"
@@ -1875,6 +2067,157 @@ files = [
{file = "six-1.16.0.tar.gz", hash = "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926"},
]
+[[package]]
+name = "snowballstemmer"
+version = "2.2.0"
+description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
+optional = false
+python-versions = "*"
+files = [
+ {file = "snowballstemmer-2.2.0-py2.py3-none-any.whl", hash = "sha256:c8e1716e83cc398ae16824e5572ae04e0d9fc2c6b985fb0f900f5f0c96ecba1a"},
+ {file = "snowballstemmer-2.2.0.tar.gz", hash = "sha256:09b16deb8547d3412ad7b590689584cd0fe25ec8db3be37788be3810cbf19cb1"},
+]
+
+[[package]]
+name = "soupsieve"
+version = "2.5"
+description = "A modern CSS selector implementation for Beautiful Soup."
+optional = false
+python-versions = ">=3.8"
+files = [
+ {file = "soupsieve-2.5-py3-none-any.whl", hash = "sha256:eaa337ff55a1579b6549dc679565eac1e3d000563bcb1c8ab0d0fefbc0c2cdc7"},
+ {file = "soupsieve-2.5.tar.gz", hash = "sha256:5663d5a7b3bfaeee0bc4372e7fc48f9cff4940b3eec54a6451cc5299f1097690"},
+]
+
+[[package]]
+name = "sphinx"
+version = "7.2.6"
+description = "Python documentation generator"
+optional = false
+python-versions = ">=3.9"
+files = [
+ {file = "sphinx-7.2.6-py3-none-any.whl", hash = "sha256:1e09160a40b956dc623c910118fa636da93bd3ca0b9876a7b3df90f07d691560"},
+ {file = "sphinx-7.2.6.tar.gz", hash = "sha256:9a5160e1ea90688d5963ba09a2dcd8bdd526620edbb65c328728f1b2228d5ab5"},
+]
+
+[package.dependencies]
+alabaster = ">=0.7,<0.8"
+babel = ">=2.9"
+colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""}
+docutils = ">=0.18.1,<0.21"
+imagesize = ">=1.3"
+importlib-metadata = {version = ">=4.8", markers = "python_version < \"3.10\""}
+Jinja2 = ">=3.0"
+packaging = ">=21.0"
+Pygments = ">=2.14"
+requests = ">=2.25.0"
+snowballstemmer = ">=2.0"
+sphinxcontrib-applehelp = "*"
+sphinxcontrib-devhelp = "*"
+sphinxcontrib-htmlhelp = ">=2.0.0"
+sphinxcontrib-jsmath = "*"
+sphinxcontrib-qthelp = "*"
+sphinxcontrib-serializinghtml = ">=1.1.9"
+
+[package.extras]
+docs = ["sphinxcontrib-websupport"]
+lint = ["docutils-stubs", "flake8 (>=3.5.0)", "flake8-simplify", "isort", "mypy (>=0.990)", "ruff", "sphinx-lint", "types-requests"]
+test = ["cython (>=3.0)", "filelock", "html5lib", "pytest (>=4.6)", "setuptools (>=67.0)"]
+
+[[package]]
+name = "sphinxcontrib-applehelp"
+version = "1.0.8"
+description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
+optional = false
+python-versions = ">=3.9"
+files = [
+ {file = "sphinxcontrib_applehelp-1.0.8-py3-none-any.whl", hash = "sha256:cb61eb0ec1b61f349e5cc36b2028e9e7ca765be05e49641c97241274753067b4"},
+ {file = "sphinxcontrib_applehelp-1.0.8.tar.gz", hash = "sha256:c40a4f96f3776c4393d933412053962fac2b84f4c99a7982ba42e09576a70619"},
+]
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-devhelp"
+version = "1.0.6"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
+optional = false
+python-versions = ">=3.9"
+files = [
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+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-htmlhelp"
+version = "2.0.5"
+description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
+optional = false
+python-versions = ">=3.9"
+files = [
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+ {file = "sphinxcontrib_htmlhelp-2.0.5.tar.gz", hash = "sha256:0dc87637d5de53dd5eec3a6a01753b1ccf99494bd756aafecd74b4fa9e729015"},
+]
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
+test = ["html5lib", "pytest"]
+
+[[package]]
+name = "sphinxcontrib-jsmath"
+version = "1.0.1"
+description = "A sphinx extension which renders display math in HTML via JavaScript"
+optional = false
+python-versions = ">=3.5"
+files = [
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+ {file = "sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl", hash = "sha256:2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178"},
+]
+
+[package.extras]
+test = ["flake8", "mypy", "pytest"]
+
+[[package]]
+name = "sphinxcontrib-qthelp"
+version = "1.0.7"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
+optional = false
+python-versions = ">=3.9"
+files = [
+ {file = "sphinxcontrib_qthelp-1.0.7-py3-none-any.whl", hash = "sha256:e2ae3b5c492d58fcbd73281fbd27e34b8393ec34a073c792642cd8e529288182"},
+ {file = "sphinxcontrib_qthelp-1.0.7.tar.gz", hash = "sha256:053dedc38823a80a7209a80860b16b722e9e0209e32fea98c90e4e6624588ed6"},
+]
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
+test = ["pytest"]
+
+[[package]]
+name = "sphinxcontrib-serializinghtml"
+version = "1.1.10"
+description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
+optional = false
+python-versions = ">=3.9"
+files = [
+ {file = "sphinxcontrib_serializinghtml-1.1.10-py3-none-any.whl", hash = "sha256:326369b8df80a7d2d8d7f99aa5ac577f51ea51556ed974e7716cfd4fca3f6cb7"},
+ {file = "sphinxcontrib_serializinghtml-1.1.10.tar.gz", hash = "sha256:93f3f5dc458b91b192fe10c397e324f262cf163d79f3282c158e8436a2c4511f"},
+]
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+standalone = ["Sphinx (>=5)"]
+test = ["pytest"]
+
[[package]]
name = "stack-data"
version = "0.6.3"
@@ -1894,6 +2237,20 @@ pure-eval = "*"
[package.extras]
tests = ["cython", "littleutils", "pygments", "pytest", "typeguard"]
+[[package]]
+name = "tabulate"
+version = "0.9.0"
+description = "Pretty-print tabular data"
+optional = false
+python-versions = ">=3.7"
+files = [
+ {file = "tabulate-0.9.0-py3-none-any.whl", hash = "sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f"},
+ {file = "tabulate-0.9.0.tar.gz", hash = "sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c"},
+]
+
+[package.extras]
+widechars = ["wcwidth"]
+
[[package]]
name = "tomli"
version = "2.0.1"
diff --git a/pyproject.toml b/pyproject.toml
index 6263a8a3..003aefeb 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -45,6 +45,9 @@ opencv-python = "^4.9.0.80"
yamldataclassconfig = "^1.5.0"
requests = "^2.31.0"
shapely = "^2.0.2"
+sphinx = "^7.2.6"
+numpydoc = "^1.6.0"
+pydata-sphinx-theme = "^0.15.2"
[tool.poetry.group.dev.dependencies]
pytest = "^7.4.4"
-
Public Member Functions inherited from f110_gym.unittest.pyglet_test.Camera
-
-
-
-
-
-
-
-
-
-
1.9.1
-
-
-
diff --git a/docs/html/namespaces.html b/docs/html/namespaces.html
deleted file mode 100644
index d0d7fa4b..00000000
--- a/docs/html/namespaces.html
+++ /dev/null
@@ -1,105 +0,0 @@
-
-
-
-
-
-
-
-