Change AP ('before_but_close_to_stop_region' --> 'close_to_stop_region')

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(

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,

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') + \

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