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Benchmarking GPUDrive #56

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365ff66
Fix tests and bugs
aaravpandya Mar 5, 2024
63ee2af
init all types of agent
aaravpandya Mar 5, 2024
5bc9efc
Removed submodule json
aaravpandya Mar 9, 2024
3f2cca7
Add Json submodule
aaravpandya Mar 9, 2024
0735630
Introduce poetry
aaravpandya Mar 10, 2024
63f6398
Define the action and observation space
aaravpandya Mar 10, 2024
d87d312
Merge branch 'ap_bugFixes' into ap_additionalParams
aaravpandya Mar 11, 2024
94167ac
Merge branch 'ap_poetryBuild' into ap_additionalParams
aaravpandya Mar 11, 2024
e41c113
Cover the export size behind static asserts
aaravpandya Mar 11, 2024
4b18816
Ignore collisions for bicycle test
aaravpandya Mar 11, 2024
5d02a4a
Change conda env name to gpudrive add prepush hook
aaravpandya Mar 11, 2024
b9e37e2
Create manual.yml
aaravpandya Mar 11, 2024
c874b57
Update manual.yml
aaravpandya Mar 11, 2024
e7fad94
Update manual.yml
aaravpandya Mar 11, 2024
dd8d668
Update manual.yml
aaravpandya Mar 11, 2024
e44556b
Update manual.yml
aaravpandya Mar 11, 2024
1493690
Make a release build on poetry install
aaravpandya Mar 11, 2024
1d91b55
Update manual.yml
aaravpandya Mar 11, 2024
f22536f
Merge branch 'main' into ap_cleanup
aaravpandya Mar 13, 2024
e465cfb
Fix export size
aaravpandya Mar 13, 2024
1df6094
Ignore Collisions
aaravpandya Mar 13, 2024
d267db9
Handle collision behaviour
aaravpandya Mar 13, 2024
728585b
Bigger consts for tests
aaravpandya Mar 13, 2024
95834c6
Refactor to merge entity types
aaravpandya Mar 13, 2024
019729d
Remove comment
aaravpandya Mar 13, 2024
17a6012
Add bindings
aaravpandya Mar 13, 2024
c00f337
Merge branch 'ap_poetryBuild' into ap_benchmark
aaravpandya Mar 14, 2024
688adb9
Init Benchmarking machinery
aaravpandya Mar 14, 2024
e00808c
Wire config to get constants
aaravpandya Mar 14, 2024
020a7ec
Add crosswalk support
aaravpandya Mar 14, 2024
7540d06
Merge branch 'main' into ap_cleanup
aaravpandya Mar 14, 2024
98b4b7a
Fix tests
aaravpandya Mar 14, 2024
74ccf65
Add more collision scenarios
aaravpandya Mar 14, 2024
2cb5681
Merge branch 'ap_cleanup' into ap_benchmark
aaravpandya Mar 14, 2024
b788226
Run benchmarks
aaravpandya Mar 15, 2024
2e9cc23
benchmarking
aaravpandya Mar 18, 2024
52f247c
run bench
aaravpandya Mar 18, 2024
812d631
fix run bench
aaravpandya Mar 18, 2024
f024679
Save progress
aaravpandya Mar 19, 2024
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Fix tests
aaravpandya committed Mar 14, 2024
commit 98b4b7a5288909da79c938fb533937634d81c43c
13 changes: 12 additions & 1 deletion tests/observationTest.cpp
Original file line number Diff line number Diff line change
@@ -100,14 +100,25 @@ TEST_F(ObservationsTest, TestObservations) {
float roadType = roadTypes[i];
for(int64_t j = 0; j < roadGeom.size() - 1; j++)
{
if(roadType > 2)
if(roadType > (float)gpudrive::EntityType::RoadLane && roadType < (float)gpudrive::EntityType::StopSign)
{
float x = (roadGeom[j].first + roadGeom[j+1].first + roadGeom[j+2].first + roadGeom[j+3].first)/4 - mean.first;
float y = (roadGeom[j].second + roadGeom[j+1].second + roadGeom[j+2].second + roadGeom[j+3].second)/4 - mean.second;

ASSERT_NEAR(flat_obs[idx], x, test_utils::EPSILON);
ASSERT_NEAR(flat_obs[idx+1], y, test_utils::EPSILON);
ASSERT_EQ(flat_obs[idx+3], roadType);
idx += 4;
break;
}
else if(roadType == (float)gpudrive::EntityType::StopSign)
{
float x = roadGeom[j].first - mean.first;
float y = roadGeom[j].second - mean.second;

ASSERT_NEAR(flat_obs[idx], x, test_utils::EPSILON);
ASSERT_NEAR(flat_obs[idx+1], y, test_utils::EPSILON);
ASSERT_EQ(flat_obs[idx+3], roadType);
idx += 4;
break;
}
4 changes: 0 additions & 4 deletions tests/test_utils.cpp
Original file line number Diff line number Diff line change
@@ -29,10 +29,6 @@ namespace test_utils
int64_t numEntities = 0;
for (const auto &obj : rawJson["objects"])
{
if (obj["type"] != "vehicle")
{
continue;
}
for (const auto &pos : obj["position"])
{
numEntities++;