Merge pull request #9 from jerryz123/docs

Added sphinx documentation

docs/Makefile

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+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SPHINXPROJ    = UrbanDrivingSimulator
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/make.bat

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+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+set SPHINXPROJ=UrbanDrivingSimulator
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS%
+
+:end
+popd

docs/source/conf.py

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+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Urban Driving Simulator documentation build configuration file, created by
+# sphinx-quickstart on Mon Nov 13 01:10:49 2017.
+#
+# This file is execfile()d with the current directory set to its
+# containing dir.
+#
+# Note that not all possible configuration values are present in this
+# autogenerated file.
+#
+# All configuration values have a default; values that are commented out
+# serve to show the default.
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.insert(0, os.path.abspath('../../'))
+
+
+# -- General configuration ------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# 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.coverage',
+              'sphinx.ext.mathjax',
+              'sphinx.ext.viewcode',
+              'sphinx.ext.githubpages',
+              'sphinx.ext.autodoc']
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+from recommonmark.parser import CommonMarkParser
+
+source_parsers = {
+    '.md': CommonMarkParser,
+}
+
+source_suffix = ['.rst', '.md']
+
+# The master toctree document.
+master_doc = 'index'
+
+# General information about the project.
+project = 'Urban Driving Simulator'
+copyright = '2017, Andrew Cui, Jerry Zhao, Michael Laskey, Berkeley AUTOLAB'
+author = 'Andrew Cui, Jerry Zhao, Michael Laskey, Berkeley AUTOLAB'
+
+# The version info for the project you're documenting, acts as replacement for
+# |version| and |release|, also used in various other places throughout the
+# built documents.
+#
+# The short X.Y version.
+version = '0.1'
+# The full version, including alpha/beta/rc tags.
+release = '0.1'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This patterns also effect to html_static_path and html_extra_path
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = 'sphinx'
+
+# If true, `todo` and `todoList` produce output, else they produce nothing.
+todo_include_todos = False
+
+
+# -- Options for HTML output ----------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# This is required for the alabaster theme
+# refs: http://alabaster.readthedocs.io/en/latest/installation.html#sidebars
+html_sidebars = {
+    '**': [
+        'relations.html',  # needs 'show_related': True theme option to display
+        'searchbox.html',
+    ]
+}
+
+
+# -- Options for HTMLHelp output ------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'UrbanDrivingSimulatordoc'
+
+
+# -- Options for LaTeX output ---------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+# Grouping the document tree into LaTeX files. List of tuples
+# (source start file, target name, title,
+#  author, documentclass [howto, manual, or own class]).
+latex_documents = [
+    (master_doc, 'UrbanDrivingSimulator.tex', 'Urban Driving Simulator Documentation',
+     'Andrew Cui, Jerry Zhao, Michael Laskey, Berkeley AUTOLAB', 'manual'),
+]
+
+
+# -- Options for manual page output ---------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'urbandrivingsimulator', 'Urban Driving Simulator Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output -------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'UrbanDrivingSimulator', 'Urban Driving Simulator Documentation',
+     author, 'UrbanDrivingSimulator', 'One line description of project.',
+     'Miscellaneous'),
+]
+
+
+

docs/source/environment.rst

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+Environments
+============
+
+Ray Integration
+^^^^^^^^^^^^^^^

docs/source/examples.rst

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+Examples
+=========
+
+Introduction
+^^^^^^^^^^^^
+This introduction will guide you through running a simple example on the simulator
+
+::
+
+   import gym
+   import gym_urbandriving as uds
+   from uds.agents import KeyboardAgent, NullAgent
+   form uds.state import SimpleIntersectionState
+   from uds.assets import Car, Pedestrian
+   from uds import UrbanDrivingEnv
+
+   vis = uds.PyGameVisualizer((800, 800))
+   init_state = SimpleIntersectionState(ncars=3, nped=2)
+   env = UrbanDrivingEnv(init_state=init_state,
+                         visualizer=vis
+                         max_time=500,
+                         randomize=True,
+                         agent_mappings={Car:NullAgent,
+                                         Pedestrian:NullAgent}
+                         )
+
+   env._render()
+
+   
+First we create a visualizer window of size 800x800. We use PyGame for visualization
+
+The ``SimpleIntersectionState`` defines a simple four-way intersection. We instantiate
+our initial state with 3 cars and 2 pedestrians.
+
+The ``UrbanDrivingEnv`` handles running the simulation and collecting agent actions.
+We instantiate it with our initial state and visualizer. ``max_time=500`` tells the
+environment to reset after 500 ticks if no crashes occur. ``randomize=True`` makes the
+environment call the ``randomize`` function in the ``SimpleIntersectionState``, making the
+``SimpleIntersectionState`` reset itself to a random arrangement of 3 cars and 2
+pedestrians. We use ``agent_mappings`` to specify what types of agents control background
+objects. In this case, we use ``NullAgents``, which take no action.
+
+Next we setup the control and simulation loop
+
+::
+
+   state = init_state
+   agent = KeyboardAgent(agent_num=0)
+   while (True):
+      action = agent.eval_policy(state)
+      state, reward, done, info_dict = env._step(action)
+      env._render()
+
+      if done:
+         env._reset()
+         state = env.get_state_copy()
+
+We choose a ``KeyboardAgent`` to control the main car in the scene. Its ``agent_num``
+specifies the index of the object it is controlling in the scene. For any agent, calling
+``agent.eval_policy(state)`` returns the action the agent would take for the ``agent_num``
+object in the state. ``env._step()`` applies the action to the ``0th`` controllable object
+in the scene. For every other object, it queries its internal list of agents as specified in
+``agent_mappings``. Once every action is collected, ``env_.step`` advances the state and returns.
+
+
+Designing a State
+^^^^^^^^^^^^^^^^^
+
+
+Imitation Learning
+^^^^^^^^^^^^^^^^^^

docs/source/index.rst

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+Urban Driving Simulator Documentation
+===================================================
+
+.. image:: uds.png
+
+Introduction
+^^^^^^^^^^^^
+This is Berkeley AUTOLAB's Urban Driving Simulator. 
+
+.. toctree::
+   :maxdepth: 2
+   :caption: Contents:
+
+   examples.rst
+   environment.rst
+   state.rst
+   objects.rst

docs/source/objects.rst

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+Objects
+=======
+
+Cars
+^^^^
+
+Pedestrians
+^^^^^^^^^^^
+
+Terrain
+^^^^^^^
+
+Lanes
+^^^^^
+
+Sidewalks
+^^^^^^^^^
+
+Streets
+^^^^^^^

docs/source/state.rst

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+States
+======