Respect sensor velocity optimal param #7
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1 make code runable
Ran black formatter on codebase
Refactor train deps
No render default
Config refactor
Observation space refactor
Fix render2d
Simplified moving obstacles environment
Render2d blue background
* Removed render_tiles * Refactored render indicators * Moved text initialization code to constructor * Refactored path and vessel renderers * Gave standard values to viewer width and height * Made RenderableState to make interface for rendering * Added points property to path * Mostly factored out environment of renderer code * Render env doesn't need access to env anymore * WIP removing raw OpenGL code from renderer * WIP before rewriting renderer to pygame * WIP Rendering - before removing more unused functionality * WIP: Made new design, refactoring * Before removing dead renderer code * Before removing make-functions in renderer * Updated environment's use of renderer * Renderer runs, but screen is black * Transform somewhat broken, otherwise functional * Changed sensors to use body coordinates * Renderer now works for TestScenario1, but has x and y swapped relative to NED * Renderer now works with correct NED axis alignment * Removed unused geometry drawing code * Cleaned up render2d * Restructured rendering
* Uncommented colreg env from available envs because unit test fails * Fixed renderer import * Changed back testscenario 1 path * Before updating ubuntu, possibly deleting data * Bumped pygame to 2.1.2 Co-authored-by: Kristian Brudeli <[email protected]>
* Added velocity option to config * Add configurable lidar channels to environment.py * Made n_sensors property not be cached * WIP: Don't return velocities if config says so * Split up vessel code * Remove unused import * Changed enclosing_circle to use shapely point for center * Added utility functions for hierarchical collision detector * Small cleanup in hierarchical utility functions * Add parts of hierarchical collision detector * Working on hierarchical collision detector * Removed if statement used for debugging * Fixed bugs when calculating enclosing circle of vessel obstacle Co-authored-by: Kristian Brudeli <[email protected]>
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