From 52dcb599f7feb10dce1ad838d842f76f0778da6b Mon Sep 17 00:00:00 2001
From: Jaeyoung Lee <jyounglee@yonsei.ac.kr>
Date: Wed, 10 Jul 2019 19:13:29 -0400
Subject: [PATCH] Change AP ('before_but_close_to_stop_region' -->
'close_to_stop_region')
---
options/simple_intersection/maneuvers.py | 8 ++++----
verifier/simple_intersection/AP_dict.py | 4 ++--
worlds/simple_intersection/simple_intersection_env.py | 2 +-
worlds/simple_intersection/vehicles.py | 4 ++--
4 files changed, 9 insertions(+), 9 deletions(-)
diff --git a/options/simple_intersection/maneuvers.py b/options/simple_intersection/maneuvers.py
index 1702cd5..b42b03d 100644
--- a/options/simple_intersection/maneuvers.py
+++ b/options/simple_intersection/maneuvers.py
@@ -94,7 +94,7 @@ class Halt(ManeuverBase):
# (currently, this functionality is implemented by "not self._enable_low_level_training_properties")
self._LTL_preconditions.append(
LTLProperty(
- "G ( (veh_ahead and before_but_close_to_stop_region) U highest_priority )",
+ "G ( (veh_ahead and close_to_stop_region) U highest_priority )",
None, not self._enable_low_level_training_properties))
self._LTL_preconditions.append(
@@ -166,10 +166,10 @@ class Stop(ManeuverBase):
LTLProperty("G ( not has_stopped_in_stop_region )",
self._penalty(self._reward_in_goal), not self._enable_low_level_training_properties))
- # before_intersection rather than "before_but_close_to_stop_region or in_stop_region"?
+ # before_intersection rather than "close_to_stop_region or in_stop_region"?
self._LTL_preconditions.append(
LTLProperty(
- "G ( (before_but_close_to_stop_region or in_stop_region) U has_stopped_in_stop_region )",
+ "G ( (close_to_stop_region or in_stop_region) U has_stopped_in_stop_region )",
self._penalty_in_violation))
self._LTL_preconditions.append(
@@ -485,7 +485,7 @@ class Follow(ManeuverBase):
def _init_LTL_preconditions(self):
self._LTL_preconditions.append(
- LTLProperty("G ( veh_ahead U (in_stop_region or before_but_close_to_stop_region ) )", self._penalty_for_out_of_range))
+ LTLProperty("G ( veh_ahead U (in_stop_region or close_to_stop_region ) )", self._penalty_for_out_of_range))
self._LTL_preconditions.append(
LTLProperty(
diff --git a/verifier/simple_intersection/AP_dict.py b/verifier/simple_intersection/AP_dict.py
index b72fe86..bb8c921 100644
--- a/verifier/simple_intersection/AP_dict.py
+++ b/verifier/simple_intersection/AP_dict.py
@@ -4,7 +4,7 @@
# * in_stop_region: True if the veh. is in stop region
# * has_entered_stop_region: True if the veh. has entered or passed the stop
# region
-# * before_but_close_to_stop_region: True if the veh. is before but close
+# * close_to_stop_region: True if the veh. is before but close
# to the stop region
# * stopped_now: True if the veh. is now stopped
# * has_stopped_in_stop_region: True if the veh. has ever stopped in the
@@ -26,7 +26,7 @@
AP_dict_simple_intersection = {
'in_stop_region': 0,
'has_entered_stop_region': 1,
- 'before_but_close_to_stop_region': 2,
+ 'close_to_stop_region': 2,
'stopped_now': 3,
'has_stopped_in_stop_region': 4,
'in_intersection': 5,
diff --git a/worlds/simple_intersection/simple_intersection_env.py b/worlds/simple_intersection/simple_intersection_env.py
index 5b1994e..9f104fd 100644
--- a/worlds/simple_intersection/simple_intersection_env.py
+++ b/worlds/simple_intersection/simple_intersection_env.py
@@ -1238,7 +1238,7 @@ class SimpleIntersectionEnv(RoadEnv, EpisodicEnvBase):
info = "Ego Attributes:" + get_APs(
self, EGO_INDEX, 'in_stop_region',
'has_entered_stop_region', 'has_stopped_in_stop_region',
- 'before_but_close_to_stop_region', 'intersection_is_clear',
+ 'close_to_stop_region', 'intersection_is_clear',
'stopped_now', 'in_intersection', 'over_speed_limit',
'on_route', 'highest_priority', 'intersection_is_clear',
'veh_ahead', 'lane') + \
diff --git a/worlds/simple_intersection/vehicles.py b/worlds/simple_intersection/vehicles.py
index a614b0a..3b749d5 100644
--- a/worlds/simple_intersection/vehicles.py
+++ b/worlds/simple_intersection/vehicles.py
@@ -273,7 +273,7 @@ class Vehicle(VehicleState):
self.APs[
'has_entered_stop_region'] = self.APs['has_entered_stop_region'] or self.APs['in_stop_region']
self.APs[
- 'before_but_close_to_stop_region'] = True if rd.hlanes.near_stop_region <= self.x < rd.hlanes.stop_region[0] else False
+ 'close_to_stop_region'] = True if rd.hlanes.near_stop_region <= self.x < rd.hlanes.stop_region[0] else False
self.APs[
'parallel_to_lane'] = True if -0.1 <= self.theta <= 0.1 else False
@@ -289,7 +289,7 @@ class Vehicle(VehicleState):
self.APs[
'has_entered_stop_region'] = True if rd.vlanes.stop_region[0] <= self.y else False
self.APs[
- 'before_but_close_to_stop_region'] = True if rd.vlanes.near_stop_region <= self.y < rd.vlanes.stop_region[0] else False
+ 'close_to_stop_region'] = True if rd.vlanes.near_stop_region <= self.y < rd.vlanes.stop_region[0] else False
theta_v = -np.sign(rd.vlanes.start_pos) * np.pi / 2.0
self.APs[
'parallel_to_lane'] = True if theta_v - 0.1 <= self.theta <= theta_v + 0.1 else False
--
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