Cleaned Sensors.

Now faster

Author: gaorkl

setup.py

@@ -6,7 +6,7 @@
 
 setup(
     name='simple_playgrounds',
-    version='0.9.21',
+    version='0.9.22',
     description='Simulator for Embedded Learning',
     author='Michael Garcia Ortiz',
     author_email='[email protected]',

simple_playgrounds/entities/agents/sensors/visual_sensors/collection/vision_sensor.py

@@ -36,7 +36,7 @@ def __init__(self, anchor, invisible_elements=None, normalize=True, **kwargs):
 
         self.cropped_img = np.zeros((2 * self.range + 1, 2 * self.range + 1, 3))
 
-        self.n_precomputed_angles = 5000
+        self.n_precomputed_angles = int(self.range * 2*math.pi)
         self.lines = np.ones((self.n_precomputed_angles, 2, 2*self.range), dtype=int) * self._center[0]
 
         for n in range(self.n_precomputed_angles):
@@ -72,7 +72,7 @@ def _compute_pixels(self, sensor_angle):
     def compute_raw_sensor(self, img):
 
         angles = [ (self.anchor.pm_body.angle + sensor_angle)%(2*math.pi) for sensor_angle in self.angles ]
-        number_angles = [int( angle * self.n_precomputed_angles/(2*math.pi)) for angle in angles ]
+        number_angles = [int( angle * (self.n_precomputed_angles-1)/(2*math.pi)) for angle in angles ]
 
         lines_coord = self.lines[number_angles]
         pixels = img[lines_coord[:,0], lines_coord[:,1]]

simple_playgrounds/entities/agents/sensors/visual_sensors/visual_sensor.py

@@ -60,6 +60,8 @@ def __init__(self, anchor, invisible_elements=None, normalize=False, **kwargs):
 
         self._center = (self.range, self.range)
 
+
+
     @staticmethod
     def parse_configuration(key):
         """ Parse configurations of different visual sensors. """

simple_playgrounds/game_engine.py

@@ -265,7 +265,7 @@ def update_surface_environment(self):
                 element.draw(self.surface_background)
 
         # self.surface_environment = self.surface_background.copy()
-        self.surface_environment.blit(self.surface_background.copy(), (0,0) )
+        self.surface_environment.blit(self.surface_background, (0,0) )
 
         for entity in self.playground.scene_elements:
 
@@ -296,7 +296,8 @@ def update_observations(self):
 
                 if sensor.sensor_modality is SensorModality.VISUAL:
 
-                    self.surface_sensors = self.surface_background.copy()
+                    # self.surface_sensors = self.surface_background.copy()
+                    self.surface_sensors.blit(self.surface_background, (0,0))
 
                     # take all elems and body parts which are close to sensor
                     sc_elems = [elem for elem in self.playground.scene_elements

simple_playgrounds/playgrounds/collection/test/__init__.py

@@ -1 +1 @@
-from .test_scene_elements import *
+from .test_scene_elements import *

tests/test_sensors.py

@@ -53,6 +53,41 @@ def test_sensors_on_all_test_playgrounds():
         pg.remove_agent(agent)
         pg.reset()
 #
+
+
+# Test angles visual
+def test_angle_visual_sensors():
+
+    from simple_playgrounds.playgrounds import SingleRoom
+
+
+    angles = [ a * 2*math.pi/12 for a in range(13)]
+
+    for angle in angles:
+
+        agent = BaseInteractiveAgent(initial_position=[100,100, angle], controller = Random())
+
+        agent.add_sensor(
+            RgbSensor(name='rgb_1', anchor=agent.base_platform, invisible_elements=agent.parts, resolution=128,
+                      range=300))
+
+        pg = SingleRoom((200, 200))
+
+        pg.add_agent(agent)
+
+        print('Starting testing of angle', angle)
+
+        engine = Engine(pg, time_limit=100, replay=False)
+        engine.run()
+
+        assert 0 < agent.position[0] < pg.size[0]
+        assert 0 < agent.position[1] < pg.size[1]
+
+        pg.remove_agent(agent)
+        pg.reset()
+#
+
+
 # def test_noisy_sensors_on_all_test_playgrounds():
 #     agent = BaseInteractiveAgent(controller=Random())
 #