Merge pull request #11 from sisl/cleanup

Fix crosswalk

.travis.yml

@@ -2,10 +2,11 @@
 language: julia
 os:
   - linux
-  # - osx
+  - osx
+  - windows
 julia:
   - 1.0
-  - 1.1
+  - 1.2
   - nightly
 notifications:
   email: false
@@ -16,14 +17,6 @@ matrix:
  allow_failures:
  - julia: nightly
 
-## uncomment and modify the following lines to manually install system packages
-addons:
- apt: # apt-get for linux
-   packages:
-   - libgtk-3-dev
-# before_script: # homebrew for mac
-#  - if [ $TRAVIS_OS_NAME = osx ]; then brew install gcc; fi
-
 ## uncomment the following lines to override the default test script
 script:
   - git clone https://github.com/JuliaRegistries/General  $(julia -e 'import Pkg; println(joinpath(Pkg.depots1(), "registries", "General"))')  

Project.toml

@@ -1,7 +1,7 @@
 name = "AutomotivePOMDPs"
 uuid = "dca8afc0-c686-11e8-0934-712707da73aa"
 repo = "https://github.com/sisl/AutomotivePOMDPs.jl"
-version = "0.1.0"
+version = "0.2.0"
 
 [deps]
 AutoUrban = "1385418a-9289-5a49-ab93-843b508de4cb"
@@ -28,7 +28,8 @@ StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
 Vec = "44eeaf0b-fee4-471f-9310-ed6585cb3142"
 
 [extras]
+POMDPTesting = "92e6a534-49c2-5324-9027-86e3c861ab81"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Test"]
+test = ["POMDPTesting", "Test"]

docs/Urban POMDP tutorial.ipynb

@@ -19,18 +19,7 @@
    "cell_type": "code",
    "execution_count": 1,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "┌ Info: Recompiling stale cache file /mnt/c/Users/Maxime/wsl/.julia/compiled/v1.0/POMDPSimulators/i1HOp.ji for POMDPSimulators [e0d0a172-29c6-5d4e-96d0-f262df5d01fd]\n",
-      "└ @ Base loading.jl:1190\n",
-      "┌ Info: Recompiling stale cache file /mnt/c/Users/Maxime/wsl/.julia/compiled/v1.0/AutomotivePOMDPs/L1lsd.ji for AutomotivePOMDPs [dca8afc0-c686-11e8-0934-712707da73aa]\n",
-      "└ @ Base loading.jl:1190\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "using Random\n",
     "using POMDPs\n",
@@ -137,14 +126,14 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": 5,
    "metadata": {},
    "outputs": [
     {
      "name": "stdout",
      "output_type": "stream",
      "text": [
-      "  0.195128 seconds (316.75 k allocations: 17.772 MiB, 5.23% gc time)\n"
+      "  5.738164 seconds (7.14 M allocations: 371.955 MiB, 6.87% gc time)\n"
      ]
     }
    ],
@@ -168,21 +157,21 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": 9,
    "metadata": {
     "scrolled": false
    },
    "outputs": [
     {
      "data": {
       "text/html": [
-       "<video autoplay controls><source src=\"files/reel-9918510249368067747.webm?10637117127676518259\" type=\"video/webm\"></video>"
+       "<video autoplay controls><source src=\"files/reel-473997054147348532.webm?11238503309942432567\" type=\"video/webm\"></video>"
       ],
       "text/plain": [
-       "Frames{MIME{Symbol(\"image/png\")}}(\"/tmp/tmpO5qTh6\", 0x0000000000000065, 20.0, nothing)"
+       "Frames{MIME{Symbol(\"image/png\")}}(\"C:\\\\Users\\\\Maxime\\\\AppData\\\\Local\\\\Temp\\\\jl_z0C55C\", 0x0000000000000065, 20.0, nothing)"
       ]
      },
-     "execution_count": 14,
+     "execution_count": 9,
      "metadata": {},
      "output_type": "execute_result"
     }
@@ -196,22 +185,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "data": {
-      "text/plain": [
-       "\"urbanpomdp.gif\""
-      ]
-     },
-     "execution_count": 15,
-     "metadata": {},
-     "output_type": "execute_result"
-    }
-   ],
+   "outputs": [],
    "source": [
-    "write(\"urbanpomdp.gif\", film)"
+    "write(\"urbanpomdp.gif\", film);"
    ]
   },
   {
@@ -260,19 +238,19 @@
  ],
  "metadata": {
   "@webio": {
-   "lastCommId": "b98c7ae9cda04228b1e3b7abc2cf0e56",
-   "lastKernelId": "db2c6abb-b971-474c-a72d-ed8d22f765e8"
+   "lastCommId": null,
+   "lastKernelId": null
   },
   "kernelspec": {
-   "display_name": "Julia 1.0.2",
+   "display_name": "Julia 1.2.0",
    "language": "julia",
-   "name": "julia-1.0"
+   "name": "julia-1.2"
   },
   "language_info": {
    "file_extension": ".jl",
    "mimetype": "application/julia",
    "name": "julia",
-   "version": "1.0.2"
+   "version": "1.2.0"
   }
  },
  "nbformat": 4,

docs/urban_pomdp.ipynb

@@ -492,8 +492,8 @@
    "source": [
     "function lane_to_segment(lane::Lane, roadway::Roadway)\n",
     "    # only works for straight lanes\n",
-    "    lane_a = get_posG(Frenet(lane, 0.), roadway)\n",
-    "    lane_b = get_posG(Frenet(lane, get_end(lane)), roadway)\n",
+    "    lane_a = posg(Frenet(lane, 0.), roadway)\n",
+    "    lane_b = posg(Frenet(lane, get_end(lane)), roadway)\n",
     "    return LineSegment(lane_a, lane_b)\n",
     "end\n",
     "\n",

src/eval-crosswalk/ego_control.jl → legacy/eval-crosswalk/ego_control.jl

@@ -61,7 +61,7 @@ generate an initial state for the ego car, returns a Vehicle object
 function initial_ego(env::CrosswalkEnv, rng::AbstractRNG)
     x0 = env.params.start_pos
     y0 = 0. # parameterize
-    v0 = rand(rng, Uniform(6., env.params.speed_limit))
+    v0 = rand(rng, Distributions.Uniform(6., env.params.speed_limit))
     # v0 = 8.
 
     return Vehicle(VehicleState(VecSE2(x0, y0, 0.0), env.roadway.segments[1].lanes[1], env.roadway, v0),

src/eval-crosswalk/simulation.jl → legacy/eval-crosswalk/simulation.jl

@@ -87,7 +87,7 @@ Create a new pedestrian entity at its initial state
 """
 function initial_pedestrian(scene::Scene, env::CrosswalkEnv, rng::AbstractRNG)
     # lateral position
-    d_lat = Uniform(env.params.roadway_length - env.params.crosswalk_width + 2, env.params.roadway_length + env.params.crosswalk_width-1)
+    d_lat = Distributions.Uniform(env.params.roadway_length - env.params.crosswalk_width + 2, env.params.roadway_length + env.params.crosswalk_width-1)
     x0 = 0.5*rand(rng, d_lat)
     # x0 =  0.5*env.params.roadway_length
 
@@ -98,7 +98,7 @@ function initial_pedestrian(scene::Scene, env::CrosswalkEnv, rng::AbstractRNG)
     θ = π/2
 
     #velocity
-    v0 = rand(rng, Uniform(0., env.params.ped_max_speed))
+    v0 = rand(rng, Distributions.Uniform(0., env.params.ped_max_speed))
     cw_roadway = Roadway([RoadSegment(2, [env.crosswalk])]);
     ped_initialstate = VehicleState(VecSE2(x0, y0, θ), env.crosswalk, cw_roadway, v0);
     # ped_initialstate = VehicleState(VecSE2(x0, y0, θ), env.crosswalk, env.roadway, v0)
@@ -120,7 +120,7 @@ function initial_scene(models::Dict{Int64, DriverModel}, env::CrosswalkEnv, conf
     b0 = initialstate_distribution(pomdp, ego)
     for i = 1:n_ped
         ped_state = rand(config.rng, b0).ped
-        d_lat = Uniform(env.params.roadway_length - env.params.crosswalk_width + 2, env.params.roadway_length + env.params.crosswalk_width-1)
+        d_lat = Distributions.Uniform(env.params.roadway_length - env.params.crosswalk_width + 2, env.params.roadway_length + env.params.crosswalk_width-1)
         x0 = 0.5*rand(config.rng, d_lat)
         y0 = ped_state.posG.y
         cw_roadway = Roadway([RoadSegment(2, [env.crosswalk])])