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Remove rescaling of agent coordinates #101

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May 6, 2024
+3 −8
Merged

Remove rescaling of agent coordinates #101

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4 changes: 1 addition & 3 deletions src/level_gen.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,11 +75,9 @@ static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) {
// values are retained so that on an episode reset they can be restored to
// their initial values.
auto &trajectory = ctx.get<Trajectory>(agent);
auto length = agentInit.length/2;
auto width = agentInit.width/2;
for(CountT i = 0; i < agentInit.numPositions; i++)
{
trajectory.positions[i] = Vector2{.x = agentInit.position[i].x - ctx.data().mean.x + length, .y = agentInit.position[i].y - ctx.data().mean.y + width};
trajectory.positions[i] = Vector2{.x = agentInit.position[i].x - ctx.data().mean.x, .y = agentInit.position[i].y - ctx.data().mean.y};
trajectory.velocities[i] = Vector2{.x = agentInit.velocity[i].x, .y = agentInit.velocity[i].y};
Comment on lines +80 to 81
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what's happening here?

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For each position in the trajectory, we subtract the precomputed means. The mean is computed over all the positions of all the trajectories while ignoring the invalid positions.

We also subtract the same means from road object positions and goal positions. So everything is translated by the same amount.

trajectory.headings[i] = toRadians(agentInit.heading[i]);
trajectory.valids[i] = agentInit.valid[i];
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7 changes: 2 additions & 5 deletions tests/bicyclemodel.cpp
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Expand Up @@ -61,11 +61,8 @@ class BicycleKinematicModelTest : public ::testing::Test {
}
agent_length_map[n_agents] = (float)obj["length"];
agent_width_map[n_agents] = (float)obj["width"];
auto length = agent_length_map[n_agents] / 2;
auto width = agent_width_map[n_agents] / 2;
auto x = float(obj["position"][0]["x"]);
initialState.push_back(float(obj["position"][0]["x"]) - mean.first + length);
initialState.push_back(float(obj["position"][0]["y"]) - mean.second + width);
initialState.push_back(float(obj["position"][0]["x"]) - mean.first);
initialState.push_back(float(obj["position"][0]["y"]) - mean.second);
initialState.push_back(test_utils::degreesToRadians(obj["heading"][0]));
initialState.push_back(math::Vector2{.x = obj["velocity"][0]["x"], .y = obj["velocity"][0]["y"]}.length());
n_agents++;
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