File size: 3,627 Bytes
9897e20 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 | #pragma once
#include <madrona/physics.hpp>
#include "types.hpp"
namespace madrona_gpudrive
{
// Constants computed from train files.
constexpr size_t MAX_OBJECTS = 515;
constexpr size_t MAX_ROADS = 956;
constexpr size_t MAX_POSITIONS = 91;
constexpr size_t MAX_GEOMETRY = 1746;
// Cannot use Madrona::math::Vector2 because it is not a POD type.
// Getting all zeros if using any madrona types.
struct MapVector2
{
float x;
float y;
};
struct MapObject
{
MapVector2 position[MAX_POSITIONS];
VehicleSize vehicle_size;
float heading[MAX_POSITIONS];
MapVector2 velocity[MAX_POSITIONS];
bool valid[MAX_POSITIONS];
MapVector2 goalPosition;
EntityType type;
MetaData metadata;
uint32_t numPositions;
uint32_t numHeadings;
uint32_t numVelocities;
uint32_t numValid;
uint32_t id;
MapVector2 mean;
bool markAsExpert{false};
};
struct MapRoad
{
// std::array<MapPosition, MAX_POSITIONS> geometry;
MapVector2 geometry[MAX_GEOMETRY];
uint32_t id;
MapType mapType;
EntityType type;
uint32_t numPoints;
MapVector2 mean;
};
struct Map
{
MapObject objects[MAX_OBJECTS];
MapRoad roads[MAX_ROADS];
uint32_t numObjects;
uint32_t numRoads;
uint32_t numRoadSegments;
MapVector2 mean;
char mapName[32];
char scenarioId[32];
// Constructor
Map() = default;
};
struct EpisodeManager
{
madrona::AtomicU32 curEpisode;
};
enum class RewardType : uint32_t
{
DistanceBased, // negative distance to goal
OnGoalAchieved, // 1 if on goal, 0 otherwise
Dense // negative distance to expert trajectory
};
struct RewardParams
{
RewardType rewardType;
float distanceToGoalThreshold;
float distanceToExpertThreshold;
};
enum class CollisionBehaviour : uint32_t
{
AgentStop,
AgentRemoved,
Ignore
};
enum class DynamicsModel : uint32_t
{
Classic,
InvertibleBicycle,
DeltaLocal,
State
};
enum class FindRoadObservationsWith
{
KNearestEntitiesWithRadiusFiltering,
AllEntitiesWithRadiusFiltering
};
struct Parameters
{
float polylineReductionThreshold;
float observationRadius;
RewardParams rewardParams;
CollisionBehaviour collisionBehaviour = CollisionBehaviour::AgentStop; // Default: AgentStop
uint32_t maxNumControlledAgents = 10000; // Arbitrary high number to by default control all vehicles
bool IgnoreNonVehicles = false; // Default: false
FindRoadObservationsWith roadObservationAlgorithm{
FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering};
bool initOnlyValidAgentsAtFirstStep = true; // Default: true
bool isStaticAgentControlled = false; // Default: false
bool enableLidar = false;
bool disableClassicalObs = false;
DynamicsModel dynamicsModel = DynamicsModel::Classic;
bool readFromTracksToPredict = false; // Default: false - for womd_tracks_to_predict initialization mode
};
struct WorldInit
{
EpisodeManager *episodeMgr;
madrona::phys::ObjectManager *rigidBodyObjMgr;
Map *map;
const Parameters *params;
};
}
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