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+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.__init__

+import os
+import sys
+
+__version__ = "1.8.2"
+
+try:
+    from farama_notifications import notifications
+
+    if "highway_env" in notifications and __version__ in notifications["gymnasium"]:
+        print(notifications["highway_env"][__version__], file=sys.stderr)
+
+except Exception:  # nosec
+    pass
+
+# Hide pygame support prompt
+os.environ["PYGAME_HIDE_SUPPORT_PROMPT"] = "1"
+
+from gymnasium.envs.registration import register
+from highway_env.envs.common.abstract import MultiAgentWrapper
+
+
+

+[docs]
+def register_highway_envs():
+    """Import the envs module so that envs register themselves."""
+
+    # exit_env.py
+    register(
+        id="exit-v0",
+        entry_point="highway_env.envs:ExitEnv",
+    )
+
+    # highway_env.py
+    register(
+        id="highway-v0",
+        entry_point="highway_env.envs:HighwayEnv",
+    )
+
+    register(
+        id="highway-fast-v0",
+        entry_point="highway_env.envs:HighwayEnvFast",
+    )
+
+    # intersection_env.py
+    register(
+        id="intersection-v0",
+        entry_point="highway_env.envs:IntersectionEnv",
+    )
+
+    register(
+        id="intersection-v1",
+        entry_point="highway_env.envs:ContinuousIntersectionEnv",
+    )
+
+    register(
+        id="intersection-multi-agent-v0",
+        entry_point="highway_env.envs:MultiAgentIntersectionEnv",
+    )
+
+    register(
+        id="intersection-multi-agent-v1",
+        entry_point="highway_env.envs:MultiAgentIntersectionEnv",
+        additional_wrappers=(MultiAgentWrapper.wrapper_spec(),),
+    )
+
+    # lane_keeping_env.py
+    register(
+        id="lane-keeping-v0",
+        entry_point="highway_env.envs:LaneKeepingEnv",
+        max_episode_steps=200,
+    )
+
+    # merge_env.py
+    register(
+        id="merge-v0",
+        entry_point="highway_env.envs:MergeEnv",
+    )
+
+    # parking_env.py
+    register(
+        id="parking-v0",
+        entry_point="highway_env.envs:ParkingEnv",
+    )
+
+    register(
+        id="parking-ActionRepeat-v0",
+        entry_point="highway_env.envs:ParkingEnvActionRepeat",
+    )
+
+    register(
+        id="parking-parked-v0", entry_point="highway_env.envs:ParkingEnvParkedVehicles"
+    )
+
+    # racetrack_env.py
+    register(
+        id="racetrack-v0",
+        entry_point="highway_env.envs:RacetrackEnv",
+    )
+
+    # roundabout_env.py
+    register(
+        id="roundabout-v0",
+        entry_point="highway_env.envs:RoundaboutEnv",
+    )
+
+    # two_way_env.py
+    register(
+        id="two-way-v0", entry_point="highway_env.envs:TwoWayEnv", max_episode_steps=15
+    )
+
+    # u_turn_env.py
+    register(id="u-turn-v0", entry_point="highway_env.envs:UTurnEnv")

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/common/abstract/index.html b/v1.9/_modules/highway_env/envs/common/abstract/index.html new file mode 100644 index 000000000..cc2b54920 --- /dev/null +++ b/v1.9/_modules/highway_env/envs/common/abstract/index.html @@ -0,0 +1,1072 @@ + + + + + + + + + + + + + + highway_env.envs.common.abstract - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.common.abstract

+import copy
+import os
+from typing import Dict, List, Optional, Text, Tuple, TypeVar
+
+import gymnasium as gym
+import numpy as np
+from gymnasium import Wrapper
+from gymnasium.wrappers import RecordVideo
+
+from highway_env import utils
+from highway_env.envs.common.action import Action, ActionType, action_factory
+from highway_env.envs.common.finite_mdp import finite_mdp
+from highway_env.envs.common.graphics import EnvViewer
+from highway_env.envs.common.observation import ObservationType, observation_factory
+from highway_env.vehicle.behavior import IDMVehicle
+from highway_env.vehicle.kinematics import Vehicle
+
+Observation = TypeVar("Observation")
+
+
+

+[docs]
+class AbstractEnv(gym.Env):
+
+    """
+    A generic environment for various tasks involving a vehicle driving on a road.
+
+    The environment contains a road populated with vehicles, and a controlled ego-vehicle that can change lane and
+    speed. The action space is fixed, but the observation space and reward function must be defined in the
+    environment implementations.
+    """
+
+    observation_type: ObservationType
+    action_type: ActionType
+    _record_video_wrapper: Optional[RecordVideo]
+    metadata = {
+        "render_modes": ["human", "rgb_array"],
+    }
+
+    PERCEPTION_DISTANCE = 5.0 * Vehicle.MAX_SPEED
+    """The maximum distance of any vehicle present in the observation [m]"""
+
+    def __init__(self, config: dict = None, render_mode: Optional[str] = None) -> None:
+        super().__init__()
+
+        # Configuration
+        self.config = self.default_config()
+        self.configure(config)
+
+        # Scene
+        self.road = None
+        self.controlled_vehicles = []
+
+        # Spaces
+        self.action_type = None
+        self.action_space = None
+        self.observation_type = None
+        self.observation_space = None
+        self.define_spaces()
+
+        # Running
+        self.time = 0  # Simulation time
+        self.steps = 0  # Actions performed
+        self.done = False
+
+        # Rendering
+        self.viewer = None
+        self._record_video_wrapper = None
+        assert render_mode is None or render_mode in self.metadata["render_modes"]
+        self.render_mode = render_mode
+        self.enable_auto_render = False
+
+        self.reset()
+
+    @property
+    def vehicle(self) -> Vehicle:
+        """First (default) controlled vehicle."""
+        return self.controlled_vehicles[0] if self.controlled_vehicles else None
+
+    @vehicle.setter
+    def vehicle(self, vehicle: Vehicle) -> None:
+        """Set a unique controlled vehicle."""
+        self.controlled_vehicles = [vehicle]
+
+

+[docs]
+    @classmethod
+    def default_config(cls) -> dict:
+        """
+        Default environment configuration.
+
+        Can be overloaded in environment implementations, or by calling configure().
+        :return: a configuration dict
+        """
+        return {
+            "observation": {"type": "Kinematics"},
+            "action": {"type": "DiscreteMetaAction"},
+            "simulation_frequency": 15,  # [Hz]
+            "policy_frequency": 1,  # [Hz]
+            "other_vehicles_type": "highway_env.vehicle.behavior.IDMVehicle",
+            "screen_width": 600,  # [px]
+            "screen_height": 150,  # [px]
+            "centering_position": [0.3, 0.5],
+            "scaling": 5.5,
+            "show_trajectories": False,
+            "render_agent": True,
+            "offscreen_rendering": os.environ.get("OFFSCREEN_RENDERING", "0") == "1",
+            "manual_control": False,
+            "real_time_rendering": False,
+        }

+
+
+    def configure(self, config: dict) -> None:
+        if config:
+            self.config.update(config)
+
+    def update_metadata(self, video_real_time_ratio=2):
+        frames_freq = (
+            self.config["simulation_frequency"]
+            if self._record_video_wrapper
+            else self.config["policy_frequency"]
+        )
+        self.metadata["render_fps"] = video_real_time_ratio * frames_freq
+
+

+[docs]
+    def define_spaces(self) -> None:
+        """
+        Set the types and spaces of observation and action from config.
+        """
+        self.observation_type = observation_factory(self, self.config["observation"])
+        self.action_type = action_factory(self, self.config["action"])
+        self.observation_space = self.observation_type.space()
+        self.action_space = self.action_type.space()

+
+
+

+[docs]
+    def _reward(self, action: Action) -> float:
+        """
+        Return the reward associated with performing a given action and ending up in the current state.
+
+        :param action: the last action performed
+        :return: the reward
+        """
+        raise NotImplementedError

+
+
+

+[docs]
+    def _rewards(self, action: Action) -> Dict[Text, float]:
+        """
+        Returns a multi-objective vector of rewards.
+
+        If implemented, this reward vector should be aggregated into a scalar in _reward().
+        This vector value should only be returned inside the info dict.
+
+        :param action: the last action performed
+        :return: a dict of {'reward_name': reward_value}
+        """
+        raise NotImplementedError

+
+
+

+[docs]
+    def _is_terminated(self) -> bool:
+        """
+        Check whether the current state is a terminal state
+
+        :return:is the state terminal
+        """
+        raise NotImplementedError

+
+
+

+[docs]
+    def _is_truncated(self) -> bool:
+        """
+        Check we truncate the episode at the current step
+
+        :return: is the episode truncated
+        """
+        raise NotImplementedError

+
+
+

+[docs]
+    def _info(self, obs: Observation, action: Optional[Action] = None) -> dict:
+        """
+        Return a dictionary of additional information
+
+        :param obs: current observation
+        :param action: current action
+        :return: info dict
+        """
+        info = {
+            "speed": self.vehicle.speed,
+            "crashed": self.vehicle.crashed,
+            "action": action,
+        }
+        try:
+            info["rewards"] = self._rewards(action)
+        except NotImplementedError:
+            pass
+        return info

+
+
+

+[docs]
+    def reset(
+        self,
+        *,
+        seed: Optional[int] = None,
+        options: Optional[dict] = None,
+    ) -> Tuple[Observation, dict]:
+        """
+        Reset the environment to it's initial configuration
+
+        :param seed: The seed that is used to initialize the environment's PRNG
+        :param options: Allows the environment configuration to specified through `options["config"]`
+        :return: the observation of the reset state
+        """
+        super().reset(seed=seed, options=options)
+        if options and "config" in options:
+            self.configure(options["config"])
+        self.update_metadata()
+        self.define_spaces()  # First, to set the controlled vehicle class depending on action space
+        self.time = self.steps = 0
+        self.done = False
+        self._reset()
+        self.define_spaces()  # Second, to link the obs and actions to the vehicles once the scene is created
+        obs = self.observation_type.observe()
+        info = self._info(obs, action=self.action_space.sample())
+        if self.render_mode == "human":
+            self.render()
+        return obs, info

+
+
+

+[docs]
+    def _reset(self) -> None:
+        """
+        Reset the scene: roads and vehicles.
+
+        This method must be overloaded by the environments.
+        """
+        raise NotImplementedError()

+
+
+

+[docs]
+    def step(self, action: Action) -> Tuple[Observation, float, bool, bool, dict]:
+        """
+        Perform an action and step the environment dynamics.
+
+        The action is executed by the ego-vehicle, and all other vehicles on the road performs their default behaviour
+        for several simulation timesteps until the next decision making step.
+
+        :param action: the action performed by the ego-vehicle
+        :return: a tuple (observation, reward, terminated, truncated, info)
+        """
+        if self.road is None or self.vehicle is None:
+            raise NotImplementedError(
+                "The road and vehicle must be initialized in the environment implementation"
+            )
+
+        self.time += 1 / self.config["policy_frequency"]
+        self._simulate(action)
+
+        obs = self.observation_type.observe()
+        reward = self._reward(action)
+        terminated = self._is_terminated()
+        truncated = self._is_truncated()
+        info = self._info(obs, action)
+        if self.render_mode == "human":
+            self.render()
+
+        return obs, reward, terminated, truncated, info

+
+
+

+[docs]
+    def _simulate(self, action: Optional[Action] = None) -> None:
+        """Perform several steps of simulation with constant action."""
+        frames = int(
+            self.config["simulation_frequency"] // self.config["policy_frequency"]
+        )
+        for frame in range(frames):
+            # Forward action to the vehicle
+            if (
+                action is not None
+                and not self.config["manual_control"]
+                and self.steps
+                % int(
+                    self.config["simulation_frequency"]
+                    // self.config["policy_frequency"]
+                )
+                == 0
+            ):
+                self.action_type.act(action)
+
+            self.road.act()
+            self.road.step(1 / self.config["simulation_frequency"])
+            self.steps += 1
+
+            # Automatically render intermediate simulation steps if a viewer has been launched
+            # Ignored if the rendering is done offscreen
+            if (
+                frame < frames - 1
+            ):  # Last frame will be rendered through env.render() as usual
+                self._automatic_rendering()
+
+        self.enable_auto_render = False

+
+
+

+[docs]
+    def render(self) -> Optional[np.ndarray]:
+        """
+        Render the environment.
+
+        Create a viewer if none exists, and use it to render an image.
+        """
+        if self.render_mode is None:
+            assert self.spec is not None
+            gym.logger.warn(
+                "You are calling render method without specifying any render mode. "
+                "You can specify the render_mode at initialization, "
+                f'e.g. gym.make("{self.spec.id}", render_mode="rgb_array")'
+            )
+            return
+        if self.viewer is None:
+            self.viewer = EnvViewer(self)
+
+        self.enable_auto_render = True
+
+        self.viewer.display()
+
+        if not self.viewer.offscreen:
+            self.viewer.handle_events()
+        if self.render_mode == "rgb_array":
+            image = self.viewer.get_image()
+            return image

+
+
+

+[docs]
+    def close(self) -> None:
+        """
+        Close the environment.
+
+        Will close the environment viewer if it exists.
+        """
+        self.done = True
+        if self.viewer is not None:
+            self.viewer.close()
+        self.viewer = None

+
+
+    def get_available_actions(self) -> List[int]:
+        return self.action_type.get_available_actions()
+
+    def set_record_video_wrapper(self, wrapper: RecordVideo):
+        self._record_video_wrapper = wrapper
+        self.update_metadata()
+
+

+[docs]
+    def _automatic_rendering(self) -> None:
+        """
+        Automatically render the intermediate frames while an action is still ongoing.
+
+        This allows to render the whole video and not only single steps corresponding to agent decision-making.
+        If a RecordVideo wrapper has been set, use it to capture intermediate frames.
+        """
+        if self.viewer is not None and self.enable_auto_render:
+            if self._record_video_wrapper and self._record_video_wrapper.video_recorder:
+                self._record_video_wrapper.video_recorder.capture_frame()
+            else:
+                self.render()

+
+
+

+[docs]
+    def simplify(self) -> "AbstractEnv":
+        """
+        Return a simplified copy of the environment where distant vehicles have been removed from the road.
+
+        This is meant to lower the policy computational load while preserving the optimal actions set.
+
+        :return: a simplified environment state
+        """
+        state_copy = copy.deepcopy(self)
+        state_copy.road.vehicles = [
+            state_copy.vehicle
+        ] + state_copy.road.close_vehicles_to(
+            state_copy.vehicle, self.PERCEPTION_DISTANCE
+        )
+
+        return state_copy

+
+
+

+[docs]
+    def change_vehicles(self, vehicle_class_path: str) -> "AbstractEnv":
+        """
+        Change the type of all vehicles on the road
+
+        :param vehicle_class_path: The path of the class of behavior for other vehicles
+                             Example: "highway_env.vehicle.behavior.IDMVehicle"
+        :return: a new environment with modified behavior model for other vehicles
+        """
+        vehicle_class = utils.class_from_path(vehicle_class_path)
+
+        env_copy = copy.deepcopy(self)
+        vehicles = env_copy.road.vehicles
+        for i, v in enumerate(vehicles):
+            if v is not env_copy.vehicle:
+                vehicles[i] = vehicle_class.create_from(v)
+        return env_copy

+
+
+    def set_preferred_lane(self, preferred_lane: int = None) -> "AbstractEnv":
+        env_copy = copy.deepcopy(self)
+        if preferred_lane:
+            for v in env_copy.road.vehicles:
+                if isinstance(v, IDMVehicle):
+                    v.route = [(lane[0], lane[1], preferred_lane) for lane in v.route]
+                    # Vehicle with lane preference are also less cautious
+                    v.LANE_CHANGE_MAX_BRAKING_IMPOSED = 1000
+        return env_copy
+
+    def set_route_at_intersection(self, _to: str) -> "AbstractEnv":
+        env_copy = copy.deepcopy(self)
+        for v in env_copy.road.vehicles:
+            if isinstance(v, IDMVehicle):
+                v.set_route_at_intersection(_to)
+        return env_copy
+
+    def set_vehicle_field(self, args: Tuple[str, object]) -> "AbstractEnv":
+        field, value = args
+        env_copy = copy.deepcopy(self)
+        for v in env_copy.road.vehicles:
+            if v is not self.vehicle:
+                setattr(v, field, value)
+        return env_copy
+
+    def call_vehicle_method(self, args: Tuple[str, Tuple[object]]) -> "AbstractEnv":
+        method, method_args = args
+        env_copy = copy.deepcopy(self)
+        for i, v in enumerate(env_copy.road.vehicles):
+            if hasattr(v, method):
+                env_copy.road.vehicles[i] = getattr(v, method)(*method_args)
+        return env_copy
+
+    def randomize_behavior(self) -> "AbstractEnv":
+        env_copy = copy.deepcopy(self)
+        for v in env_copy.road.vehicles:
+            if isinstance(v, IDMVehicle):
+                v.randomize_behavior()
+        return env_copy
+
+    def to_finite_mdp(self):
+        return finite_mdp(self, time_quantization=1 / self.config["policy_frequency"])
+
+    def __deepcopy__(self, memo):
+        """Perform a deep copy but without copying the environment viewer."""
+        cls = self.__class__
+        result = cls.__new__(cls)
+        memo[id(self)] = result
+        for k, v in self.__dict__.items():
+            if k not in ["viewer", "_record_video_wrapper"]:
+                setattr(result, k, copy.deepcopy(v, memo))
+            else:
+                setattr(result, k, None)
+        return result

+
+
+
+

+[docs]
+class MultiAgentWrapper(Wrapper):
+

+[docs]
+    def step(self, action):
+        obs, reward, terminated, truncated, info = super().step(action)
+        reward = info["agents_rewards"]
+        terminated = info["agents_terminated"]
+        truncated = info["agents_truncated"]
+        return obs, reward, terminated, truncated, info

+

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/common/action/index.html b/v1.9/_modules/highway_env/envs/common/action/index.html new file mode 100644 index 000000000..3720142ed --- /dev/null +++ b/v1.9/_modules/highway_env/envs/common/action/index.html @@ -0,0 +1,978 @@ + + + + + + + + + + + + + + highway_env.envs.common.action - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.common.action

+import functools
+import itertools
+from typing import TYPE_CHECKING, Callable, List, Optional, Tuple, Union
+
+import numpy as np
+from gymnasium import spaces
+
+from highway_env import utils
+from highway_env.utils import Vector
+from highway_env.vehicle.controller import MDPVehicle
+from highway_env.vehicle.dynamics import BicycleVehicle
+from highway_env.vehicle.kinematics import Vehicle
+
+if TYPE_CHECKING:
+    from highway_env.envs.common.abstract import AbstractEnv
+
+Action = Union[int, np.ndarray]
+
+
+

+[docs]
+class ActionType(object):
+
+    """A type of action specifies its definition space, and how actions are executed in the environment"""
+
+    def __init__(self, env: "AbstractEnv", **kwargs) -> None:
+        self.env = env
+        self.__controlled_vehicle = None
+
+

+[docs]
+    def space(self) -> spaces.Space:
+        """The action space."""
+        raise NotImplementedError

+
+
+    @property
+    def vehicle_class(self) -> Callable:
+        """
+        The class of a vehicle able to execute the action.
+
+        Must return a subclass of :py:class:`highway_env.vehicle.kinematics.Vehicle`.
+        """
+        raise NotImplementedError
+
+

+[docs]
+    def act(self, action: Action) -> None:
+        """
+        Execute the action on the ego-vehicle.
+
+        Most of the action mechanics are actually implemented in vehicle.act(action), where
+        vehicle is an instance of the specified :py:class:`highway_env.envs.common.action.ActionType.vehicle_class`.
+        Must some pre-processing can be applied to the action based on the ActionType configurations.
+
+        :param action: the action to execute
+        """
+        raise NotImplementedError

+
+
+

+[docs]
+    def get_available_actions(self):
+        """
+        For discrete action space, return the list of available actions.
+        """
+        raise NotImplementedError

+
+
+    @property
+    def controlled_vehicle(self):
+        """The vehicle acted upon.
+
+        If not set, the first controlled vehicle is used by default."""
+        return self.__controlled_vehicle or self.env.vehicle
+
+    @controlled_vehicle.setter
+    def controlled_vehicle(self, vehicle):
+        self.__controlled_vehicle = vehicle

+
+
+
+

+[docs]
+class ContinuousAction(ActionType):
+
+    """
+    An continuous action space for throttle and/or steering angle.
+
+    If both throttle and steering are enabled, they are set in this order: [throttle, steering]
+
+    The space intervals are always [-1, 1], but are mapped to throttle/steering intervals through configurations.
+    """
+
+    ACCELERATION_RANGE = (-5, 5.0)
+    """Acceleration range: [-x, x], in m/s²."""
+
+    STEERING_RANGE = (-np.pi / 4, np.pi / 4)
+    """Steering angle range: [-x, x], in rad."""
+
+    def __init__(
+        self,
+        env: "AbstractEnv",
+        acceleration_range: Optional[Tuple[float, float]] = None,
+        steering_range: Optional[Tuple[float, float]] = None,
+        speed_range: Optional[Tuple[float, float]] = None,
+        longitudinal: bool = True,
+        lateral: bool = True,
+        dynamical: bool = False,
+        clip: bool = True,
+        **kwargs
+    ) -> None:
+        """
+        Create a continuous action space.
+
+        :param env: the environment
+        :param acceleration_range: the range of acceleration values [m/s²]
+        :param steering_range: the range of steering values [rad]
+        :param speed_range: the range of reachable speeds [m/s]
+        :param longitudinal: enable throttle control
+        :param lateral: enable steering control
+        :param dynamical: whether to simulate dynamics (i.e. friction) rather than kinematics
+        :param clip: clip action to the defined range
+        """
+        super().__init__(env)
+        self.acceleration_range = (
+            acceleration_range if acceleration_range else self.ACCELERATION_RANGE
+        )
+        self.steering_range = steering_range if steering_range else self.STEERING_RANGE
+        self.speed_range = speed_range
+        self.lateral = lateral
+        self.longitudinal = longitudinal
+        if not self.lateral and not self.longitudinal:
+            raise ValueError(
+                "Either longitudinal and/or lateral control must be enabled"
+            )
+        self.dynamical = dynamical
+        self.clip = clip
+        self.size = 2 if self.lateral and self.longitudinal else 1
+        self.last_action = np.zeros(self.size)
+
+

+[docs]
+    def space(self) -> spaces.Box:
+        return spaces.Box(-1.0, 1.0, shape=(self.size,), dtype=np.float32)

+
+
+    @property
+    def vehicle_class(self) -> Callable:
+        return Vehicle if not self.dynamical else BicycleVehicle
+
+    def get_action(self, action: np.ndarray):
+        if self.clip:
+            action = np.clip(action, -1, 1)
+        if self.speed_range:
+            (
+                self.controlled_vehicle.MIN_SPEED,
+                self.controlled_vehicle.MAX_SPEED,
+            ) = self.speed_range
+        if self.longitudinal and self.lateral:
+            return {
+                "acceleration": utils.lmap(action[0], [-1, 1], self.acceleration_range),
+                "steering": utils.lmap(action[1], [-1, 1], self.steering_range),
+            }
+        elif self.longitudinal:
+            return {
+                "acceleration": utils.lmap(action[0], [-1, 1], self.acceleration_range),
+                "steering": 0,
+            }
+        elif self.lateral:
+            return {
+                "acceleration": 0,
+                "steering": utils.lmap(action[0], [-1, 1], self.steering_range),
+            }
+
+

+[docs]
+    def act(self, action: np.ndarray) -> None:
+        self.controlled_vehicle.act(self.get_action(action))
+        self.last_action = action

+

+
+
+
+

+[docs]
+class DiscreteAction(ContinuousAction):
+    def __init__(
+        self,
+        env: "AbstractEnv",
+        acceleration_range: Optional[Tuple[float, float]] = None,
+        steering_range: Optional[Tuple[float, float]] = None,
+        longitudinal: bool = True,
+        lateral: bool = True,
+        dynamical: bool = False,
+        clip: bool = True,
+        actions_per_axis: int = 3,
+        **kwargs
+    ) -> None:
+        super().__init__(
+            env,
+            acceleration_range=acceleration_range,
+            steering_range=steering_range,
+            longitudinal=longitudinal,
+            lateral=lateral,
+            dynamical=dynamical,
+            clip=clip,
+        )
+        self.actions_per_axis = actions_per_axis
+
+

+[docs]
+    def space(self) -> spaces.Discrete:
+        return spaces.Discrete(self.actions_per_axis**self.size)

+
+
+

+[docs]
+    def act(self, action: int) -> None:
+        cont_space = super().space()
+        axes = np.linspace(cont_space.low, cont_space.high, self.actions_per_axis).T
+        all_actions = list(itertools.product(*axes))
+        super().act(all_actions[action])

+

+
+
+
+

+[docs]
+class DiscreteMetaAction(ActionType):
+
+    """
+    An discrete action space of meta-actions: lane changes, and cruise control set-point.
+    """
+
+    ACTIONS_ALL = {0: "LANE_LEFT", 1: "IDLE", 2: "LANE_RIGHT", 3: "FASTER", 4: "SLOWER"}
+    """A mapping of action indexes to labels."""
+
+    ACTIONS_LONGI = {0: "SLOWER", 1: "IDLE", 2: "FASTER"}
+    """A mapping of longitudinal action indexes to labels."""
+
+    ACTIONS_LAT = {0: "LANE_LEFT", 1: "IDLE", 2: "LANE_RIGHT"}
+    """A mapping of lateral action indexes to labels."""
+
+    def __init__(
+        self,
+        env: "AbstractEnv",
+        longitudinal: bool = True,
+        lateral: bool = True,
+        target_speeds: Optional[Vector] = None,
+        **kwargs
+    ) -> None:
+        """
+        Create a discrete action space of meta-actions.
+
+        :param env: the environment
+        :param longitudinal: include longitudinal actions
+        :param lateral: include lateral actions
+        :param target_speeds: the list of speeds the vehicle is able to track
+        """
+        super().__init__(env)
+        self.longitudinal = longitudinal
+        self.lateral = lateral
+        self.target_speeds = (
+            np.array(target_speeds)
+            if target_speeds is not None
+            else MDPVehicle.DEFAULT_TARGET_SPEEDS
+        )
+        self.actions = (
+            self.ACTIONS_ALL
+            if longitudinal and lateral
+            else self.ACTIONS_LONGI
+            if longitudinal
+            else self.ACTIONS_LAT
+            if lateral
+            else None
+        )
+        if self.actions is None:
+            raise ValueError(
+                "At least longitudinal or lateral actions must be included"
+            )
+        self.actions_indexes = {v: k for k, v in self.actions.items()}
+
+

+[docs]
+    def space(self) -> spaces.Space:
+        return spaces.Discrete(len(self.actions))

+
+
+    @property
+    def vehicle_class(self) -> Callable:
+        return functools.partial(MDPVehicle, target_speeds=self.target_speeds)
+
+

+[docs]
+    def act(self, action: Union[int, np.ndarray]) -> None:
+        self.controlled_vehicle.act(self.actions[int(action)])

+
+
+

+[docs]
+    def get_available_actions(self) -> List[int]:
+        """
+        Get the list of currently available actions.
+
+        Lane changes are not available on the boundary of the road, and speed changes are not available at
+        maximal or minimal speed.
+
+        :return: the list of available actions
+        """
+        actions = [self.actions_indexes["IDLE"]]
+        network = self.controlled_vehicle.road.network
+        for l_index in network.side_lanes(self.controlled_vehicle.lane_index):
+            if (
+                l_index[2] < self.controlled_vehicle.lane_index[2]
+                and network.get_lane(l_index).is_reachable_from(
+                    self.controlled_vehicle.position
+                )
+                and self.lateral
+            ):
+                actions.append(self.actions_indexes["LANE_LEFT"])
+            if (
+                l_index[2] > self.controlled_vehicle.lane_index[2]
+                and network.get_lane(l_index).is_reachable_from(
+                    self.controlled_vehicle.position
+                )
+                and self.lateral
+            ):
+                actions.append(self.actions_indexes["LANE_RIGHT"])
+        if (
+            self.controlled_vehicle.speed_index
+            < self.controlled_vehicle.target_speeds.size - 1
+            and self.longitudinal
+        ):
+            actions.append(self.actions_indexes["FASTER"])
+        if self.controlled_vehicle.speed_index > 0 and self.longitudinal:
+            actions.append(self.actions_indexes["SLOWER"])
+        return actions

+

+
+
+
+

+[docs]
+class MultiAgentAction(ActionType):
+    def __init__(self, env: "AbstractEnv", action_config: dict, **kwargs) -> None:
+        super().__init__(env)
+        self.action_config = action_config
+        self.agents_action_types = []
+        for vehicle in self.env.controlled_vehicles:
+            action_type = action_factory(self.env, self.action_config)
+            action_type.controlled_vehicle = vehicle
+            self.agents_action_types.append(action_type)
+
+

+[docs]
+    def space(self) -> spaces.Space:
+        return spaces.Tuple(
+            [action_type.space() for action_type in self.agents_action_types]
+        )

+
+
+    @property
+    def vehicle_class(self) -> Callable:
+        return action_factory(self.env, self.action_config).vehicle_class
+
+

+[docs]
+    def act(self, action: Action) -> None:
+        assert isinstance(action, tuple)
+        for agent_action, action_type in zip(action, self.agents_action_types):
+            action_type.act(agent_action)

+
+
+

+[docs]
+    def get_available_actions(self):
+        return itertools.product(
+            *[
+                action_type.get_available_actions()
+                for action_type in self.agents_action_types
+            ]
+        )

+

+
+
+
+def action_factory(env: "AbstractEnv", config: dict) -> ActionType:
+    if config["type"] == "ContinuousAction":
+        return ContinuousAction(env, **config)
+    if config["type"] == "DiscreteAction":
+        return DiscreteAction(env, **config)
+    elif config["type"] == "DiscreteMetaAction":
+        return DiscreteMetaAction(env, **config)
+    elif config["type"] == "MultiAgentAction":
+        return MultiAgentAction(env, **config)
+    else:
+        raise ValueError("Unknown action type")
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/common/graphics/index.html b/v1.9/_modules/highway_env/envs/common/graphics/index.html new file mode 100644 index 000000000..361740f51 --- /dev/null +++ b/v1.9/_modules/highway_env/envs/common/graphics/index.html @@ -0,0 +1,889 @@ + + + + + + + + + + + + + + highway_env.envs.common.graphics - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.common.graphics

+import os
+from typing import TYPE_CHECKING, Callable, List, Optional
+
+import numpy as np
+import pygame
+
+from highway_env.envs.common.action import (
+    ActionType,
+    ContinuousAction,
+    DiscreteMetaAction,
+)
+from highway_env.road.graphics import RoadGraphics, WorldSurface
+from highway_env.vehicle.graphics import VehicleGraphics
+
+if TYPE_CHECKING:
+    from highway_env.envs import AbstractEnv
+    from highway_env.envs.common.abstract import Action
+
+
+

+[docs]
+class EnvViewer(object):
+
+    """A viewer to render a highway driving environment."""
+
+    SAVE_IMAGES = False
+    agent_display = None
+
+    def __init__(self, env: "AbstractEnv", config: Optional[dict] = None) -> None:
+        self.env = env
+        self.config = config or env.config
+        self.offscreen = self.config["offscreen_rendering"]
+        self.observer_vehicle = None
+        self.agent_surface = None
+        self.vehicle_trajectory = None
+        self.frame = 0
+        self.directory = None
+
+        pygame.init()
+        pygame.display.set_caption("Highway-env")
+        panel_size = (self.config["screen_width"], self.config["screen_height"])
+
+        # A display is not mandatory to draw things. Ignoring the display.set_mode()
+        # instruction allows the drawing to be done on surfaces without
+        # handling a screen display, useful for e.g. cloud computing
+        if not self.offscreen:
+            self.screen = pygame.display.set_mode(
+                [self.config["screen_width"], self.config["screen_height"]]
+            )
+        if self.agent_display:
+            self.extend_display()
+        self.sim_surface = WorldSurface(panel_size, 0, pygame.Surface(panel_size))
+        self.sim_surface.scaling = self.config.get(
+            "scaling", self.sim_surface.INITIAL_SCALING
+        )
+        self.sim_surface.centering_position = self.config.get(
+            "centering_position", self.sim_surface.INITIAL_CENTERING
+        )
+        self.clock = pygame.time.Clock()
+
+        self.enabled = True
+        if os.environ.get("SDL_VIDEODRIVER", None) == "dummy":
+            self.enabled = False
+
+

+[docs]
+    def set_agent_display(self, agent_display: Callable) -> None:
+        """
+        Set a display callback provided by an agent
+
+        So that they can render their behaviour on a dedicated agent surface, or even on the simulation surface.
+
+        :param agent_display: a callback provided by the agent to display on surfaces
+        """
+        if EnvViewer.agent_display is None:
+            self.extend_display()
+        EnvViewer.agent_display = agent_display

+
+
+    def extend_display(self) -> None:
+        if not self.offscreen:
+            if self.config["screen_width"] > self.config["screen_height"]:
+                self.screen = pygame.display.set_mode(
+                    (self.config["screen_width"], 2 * self.config["screen_height"])
+                )
+            else:
+                self.screen = pygame.display.set_mode(
+                    (2 * self.config["screen_width"], self.config["screen_height"])
+                )
+        self.agent_surface = pygame.Surface(
+            (self.config["screen_width"], self.config["screen_height"])
+        )
+
+

+[docs]
+    def set_agent_action_sequence(self, actions: List["Action"]) -> None:
+        """
+        Set the sequence of actions chosen by the agent, so that it can be displayed
+
+        :param actions: list of action, following the env's action space specification
+        """
+        if isinstance(self.env.action_type, DiscreteMetaAction):
+            actions = [self.env.action_type.actions[a] for a in actions]
+        elif isinstance(self.env.action_type, ContinuousAction):
+            actions = [self.env.action_type.get_action(a) for a in actions]
+        if len(actions) > 1:
+            self.vehicle_trajectory = self.env.vehicle.predict_trajectory(
+                actions,
+                1 / self.env.config["policy_frequency"],
+                1 / 3 / self.env.config["policy_frequency"],
+                1 / self.env.config["simulation_frequency"],
+            )

+
+
+

+[docs]
+    def handle_events(self) -> None:
+        """Handle pygame events by forwarding them to the display and environment vehicle."""
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                self.env.close()
+            self.sim_surface.handle_event(event)
+            if self.env.action_type:
+                EventHandler.handle_event(self.env.action_type, event)

+
+
+

+[docs]
+    def display(self) -> None:
+        """Display the road and vehicles on a pygame window."""
+        if not self.enabled:
+            return
+
+        self.sim_surface.move_display_window_to(self.window_position())
+        RoadGraphics.display(self.env.road, self.sim_surface)
+
+        if self.vehicle_trajectory:
+            VehicleGraphics.display_trajectory(
+                self.vehicle_trajectory, self.sim_surface, offscreen=self.offscreen
+            )
+
+        RoadGraphics.display_road_objects(
+            self.env.road, self.sim_surface, offscreen=self.offscreen
+        )
+
+        if EnvViewer.agent_display:
+            EnvViewer.agent_display(self.agent_surface, self.sim_surface)
+            if not self.offscreen:
+                if self.config["screen_width"] > self.config["screen_height"]:
+                    self.screen.blit(
+                        self.agent_surface, (0, self.config["screen_height"])
+                    )
+                else:
+                    self.screen.blit(
+                        self.agent_surface, (self.config["screen_width"], 0)
+                    )
+
+        RoadGraphics.display_traffic(
+            self.env.road,
+            self.sim_surface,
+            simulation_frequency=self.env.config["simulation_frequency"],
+            offscreen=self.offscreen,
+        )
+
+        ObservationGraphics.display(self.env.observation_type, self.sim_surface)
+
+        if not self.offscreen:
+            self.screen.blit(self.sim_surface, (0, 0))
+            if self.env.config["real_time_rendering"]:
+                self.clock.tick(self.env.config["simulation_frequency"])
+            pygame.display.flip()
+
+        if self.SAVE_IMAGES and self.directory:
+            pygame.image.save(
+                self.sim_surface,
+                str(self.directory / "highway-env_{}.png".format(self.frame)),
+            )
+            self.frame += 1

+
+
+

+[docs]
+    def get_image(self) -> np.ndarray:
+        """
+        The rendered image as a rgb array.
+
+        Gymnasium's channel convention is H x W x C
+        """
+        surface = (
+            self.screen
+            if self.config["render_agent"] and not self.offscreen
+            else self.sim_surface
+        )
+        data = pygame.surfarray.array3d(surface)  # in W x H x C channel convention
+        return np.moveaxis(data, 0, 1)

+
+
+

+[docs]
+    def window_position(self) -> np.ndarray:
+        """the world position of the center of the displayed window."""
+        if self.observer_vehicle:
+            return self.observer_vehicle.position
+        elif self.env.vehicle:
+            return self.env.vehicle.position
+        else:
+            return np.array([0, 0])

+
+
+

+[docs]
+    def close(self) -> None:
+        """Close the pygame window."""
+        pygame.quit()

+

+
+
+
+class EventHandler(object):
+    @classmethod
+    def handle_event(
+        cls, action_type: ActionType, event: pygame.event.EventType
+    ) -> None:
+        """
+        Map the pygame keyboard events to control decisions
+
+        :param action_type: the ActionType that defines how the vehicle is controlled
+        :param event: the pygame event
+        """
+        if isinstance(action_type, DiscreteMetaAction):
+            cls.handle_discrete_action_event(action_type, event)
+        elif action_type.__class__ == ContinuousAction:
+            cls.handle_continuous_action_event(action_type, event)
+
+    @classmethod
+    def handle_discrete_action_event(
+        cls, action_type: DiscreteMetaAction, event: pygame.event.EventType
+    ) -> None:
+        if event.type == pygame.KEYDOWN:
+            if event.key == pygame.K_RIGHT and action_type.longitudinal:
+                action_type.act(action_type.actions_indexes["FASTER"])
+            if event.key == pygame.K_LEFT and action_type.longitudinal:
+                action_type.act(action_type.actions_indexes["SLOWER"])
+            if event.key == pygame.K_DOWN and action_type.lateral:
+                action_type.act(action_type.actions_indexes["LANE_RIGHT"])
+            if event.key == pygame.K_UP:
+                action_type.act(action_type.actions_indexes["LANE_LEFT"])
+
+    @classmethod
+    def handle_continuous_action_event(
+        cls, action_type: ContinuousAction, event: pygame.event.EventType
+    ) -> None:
+        action = action_type.last_action.copy()
+        steering_index = action_type.space().shape[0] - 1
+        if event.type == pygame.KEYDOWN:
+            if event.key == pygame.K_RIGHT and action_type.lateral:
+                action[steering_index] = 0.7
+            if event.key == pygame.K_LEFT and action_type.lateral:
+                action[steering_index] = -0.7
+            if event.key == pygame.K_DOWN and action_type.longitudinal:
+                action[0] = -0.7
+            if event.key == pygame.K_UP and action_type.longitudinal:
+                action[0] = 0.7
+        elif event.type == pygame.KEYUP:
+            if event.key == pygame.K_RIGHT and action_type.lateral:
+                action[steering_index] = 0
+            if event.key == pygame.K_LEFT and action_type.lateral:
+                action[steering_index] = 0
+            if event.key == pygame.K_DOWN and action_type.longitudinal:
+                action[0] = 0
+            if event.key == pygame.K_UP and action_type.longitudinal:
+                action[0] = 0
+        action_type.act(action)
+
+
+class ObservationGraphics(object):
+    COLOR = (0, 0, 0)
+
+    @classmethod
+    def display(cls, obs, sim_surface):
+        from highway_env.envs.common.observation import LidarObservation
+
+        if isinstance(obs, LidarObservation):
+            cls.display_grid(obs, sim_surface)
+
+    @classmethod
+    def display_grid(cls, lidar_observation, surface):
+        psi = np.repeat(
+            np.arange(
+                -lidar_observation.angle / 2,
+                2 * np.pi - lidar_observation.angle / 2,
+                2 * np.pi / lidar_observation.grid.shape[0],
+            ),
+            2,
+        )
+        psi = np.hstack((psi[1:], [psi[0]]))
+        r = np.repeat(
+            np.minimum(lidar_observation.grid[:, 0], lidar_observation.maximum_range), 2
+        )
+        points = [
+            (
+                surface.pos2pix(
+                    lidar_observation.origin[0] + r[i] * np.cos(psi[i]),
+                    lidar_observation.origin[1] + r[i] * np.sin(psi[i]),
+                )
+            )
+            for i in range(np.size(psi))
+        ]
+        pygame.draw.lines(surface, ObservationGraphics.COLOR, True, points, 1)
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/common/observation/index.html b/v1.9/_modules/highway_env/envs/common/observation/index.html new file mode 100644 index 000000000..db034b4ad --- /dev/null +++ b/v1.9/_modules/highway_env/envs/common/observation/index.html @@ -0,0 +1,1433 @@ + + + + + + + + + + + + + + highway_env.envs.common.observation - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.common.observation

+from collections import OrderedDict
+from itertools import product
+from typing import TYPE_CHECKING, Dict, List, Optional, Tuple
+
+import numpy as np
+import pandas as pd
+from gymnasium import spaces
+
+from highway_env import utils
+from highway_env.envs.common.finite_mdp import compute_ttc_grid
+from highway_env.envs.common.graphics import EnvViewer
+from highway_env.road.lane import AbstractLane
+from highway_env.utils import Vector
+from highway_env.vehicle.kinematics import Vehicle
+
+if TYPE_CHECKING:
+    from highway_env.envs.common.abstract import AbstractEnv
+
+
+class ObservationType(object):
+    def __init__(self, env: "AbstractEnv", **kwargs) -> None:
+        self.env = env
+        self.__observer_vehicle = None
+
+    def space(self) -> spaces.Space:
+        """Get the observation space."""
+        raise NotImplementedError()
+
+    def observe(self):
+        """Get an observation of the environment state."""
+        raise NotImplementedError()
+
+    @property
+    def observer_vehicle(self):
+        """
+        The vehicle observing the scene.
+
+        If not set, the first controlled vehicle is used by default.
+        """
+        return self.__observer_vehicle or self.env.vehicle
+
+    @observer_vehicle.setter
+    def observer_vehicle(self, vehicle):
+        self.__observer_vehicle = vehicle
+
+
+

+[docs]
+class GrayscaleObservation(ObservationType):
+
+    """
+    An observation class that collects directly what the simulator renders.
+
+    Also stacks the collected frames as in the nature DQN.
+    The observation shape is C x W x H.
+
+    Specific keys are expected in the configuration dictionary passed.
+    Example of observation dictionary in the environment config:
+        observation": {
+            "type": "GrayscaleObservation",
+            "observation_shape": (84, 84)
+            "stack_size": 4,
+            "weights": [0.2989, 0.5870, 0.1140],  # weights for RGB conversion,
+        }
+    """
+
+    def __init__(
+        self,
+        env: "AbstractEnv",
+        observation_shape: Tuple[int, int],
+        stack_size: int,
+        weights: List[float],
+        scaling: Optional[float] = None,
+        centering_position: Optional[List[float]] = None,
+        **kwargs
+    ) -> None:
+        super().__init__(env)
+        self.observation_shape = observation_shape
+        self.shape = (stack_size,) + self.observation_shape
+        self.weights = weights
+        self.obs = np.zeros(self.shape, dtype=np.uint8)
+
+        # The viewer configuration can be different between this observation and env.render() (typically smaller)
+        viewer_config = env.config.copy()
+        viewer_config.update(
+            {
+                "offscreen_rendering": True,
+                "screen_width": self.observation_shape[0],
+                "screen_height": self.observation_shape[1],
+                "scaling": scaling or viewer_config["scaling"],
+                "centering_position": centering_position
+                or viewer_config["centering_position"],
+            }
+        )
+        self.viewer = EnvViewer(env, config=viewer_config)
+
+

+[docs]
+    def space(self) -> spaces.Space:
+        return spaces.Box(shape=self.shape, low=0, high=255, dtype=np.uint8)

+
+
+

+[docs]
+    def observe(self) -> np.ndarray:
+        new_obs = self._render_to_grayscale()
+        self.obs = np.roll(self.obs, -1, axis=0)
+        self.obs[-1, :, :] = new_obs
+        return self.obs

+
+
+    def _render_to_grayscale(self) -> np.ndarray:
+        self.viewer.observer_vehicle = self.observer_vehicle
+        self.viewer.display()
+        raw_rgb = self.viewer.get_image()  # H x W x C
+        raw_rgb = np.moveaxis(raw_rgb, 0, 1)
+        return np.dot(raw_rgb[..., :3], self.weights).clip(0, 255).astype(np.uint8)

+
+
+
+class TimeToCollisionObservation(ObservationType):
+    def __init__(self, env: "AbstractEnv", horizon: int = 10, **kwargs: dict) -> None:
+        super().__init__(env)
+        self.horizon = horizon
+
+    def space(self) -> spaces.Space:
+        try:
+            return spaces.Box(
+                shape=self.observe().shape, low=0, high=1, dtype=np.float32
+            )
+        except AttributeError:
+            return spaces.Space()
+
+    def observe(self) -> np.ndarray:
+        if not self.env.road:
+            return np.zeros(
+                (3, 3, int(self.horizon * self.env.config["policy_frequency"]))
+            )
+        grid = compute_ttc_grid(
+            self.env,
+            vehicle=self.observer_vehicle,
+            time_quantization=1 / self.env.config["policy_frequency"],
+            horizon=self.horizon,
+        )
+        padding = np.ones(np.shape(grid))
+        padded_grid = np.concatenate([padding, grid, padding], axis=1)
+        obs_lanes = 3
+        l0 = grid.shape[1] + self.observer_vehicle.lane_index[2] - obs_lanes // 2
+        lf = grid.shape[1] + self.observer_vehicle.lane_index[2] + obs_lanes // 2
+        clamped_grid = padded_grid[:, l0 : lf + 1, :]
+        repeats = np.ones(clamped_grid.shape[0])
+        repeats[np.array([0, -1])] += clamped_grid.shape[0]
+        padded_grid = np.repeat(clamped_grid, repeats.astype(int), axis=0)
+        obs_speeds = 3
+        v0 = grid.shape[0] + self.observer_vehicle.speed_index - obs_speeds // 2
+        vf = grid.shape[0] + self.observer_vehicle.speed_index + obs_speeds // 2
+        clamped_grid = padded_grid[v0 : vf + 1, :, :]
+        return clamped_grid.astype(np.float32)
+
+
+

+[docs]
+class KinematicObservation(ObservationType):
+
+    """Observe the kinematics of nearby vehicles."""
+
+    FEATURES: List[str] = ["presence", "x", "y", "vx", "vy"]
+
+    def __init__(
+        self,
+        env: "AbstractEnv",
+        features: List[str] = None,
+        vehicles_count: int = 5,
+        features_range: Dict[str, List[float]] = None,
+        absolute: bool = False,
+        order: str = "sorted",
+        normalize: bool = True,
+        clip: bool = True,
+        see_behind: bool = False,
+        observe_intentions: bool = False,
+        include_obstacles: bool = True,
+        **kwargs: dict
+    ) -> None:
+        """
+        :param env: The environment to observe
+        :param features: Names of features used in the observation
+        :param vehicles_count: Number of observed vehicles
+        :param features_range: a dict mapping a feature name to [min, max] values
+        :param absolute: Use absolute coordinates
+        :param order: Order of observed vehicles. Values: sorted, shuffled
+        :param normalize: Should the observation be normalized
+        :param clip: Should the value be clipped in the desired range
+        :param see_behind: Should the observation contains the vehicles behind
+        :param observe_intentions: Observe the destinations of other vehicles
+        """
+        super().__init__(env)
+        self.features = features or self.FEATURES
+        self.vehicles_count = vehicles_count
+        self.features_range = features_range
+        self.absolute = absolute
+        self.order = order
+        self.normalize = normalize
+        self.clip = clip
+        self.see_behind = see_behind
+        self.observe_intentions = observe_intentions
+        self.include_obstacles = include_obstacles
+
+

+[docs]
+    def space(self) -> spaces.Space:
+        return spaces.Box(
+            shape=(self.vehicles_count, len(self.features)),
+            low=-np.inf,
+            high=np.inf,
+            dtype=np.float32,
+        )

+
+
+

+[docs]
+    def normalize_obs(self, df: pd.DataFrame) -> pd.DataFrame:
+        """
+        Normalize the observation values.
+
+        For now, assume that the road is straight along the x axis.
+        :param Dataframe df: observation data
+        """
+        if not self.features_range:
+            side_lanes = self.env.road.network.all_side_lanes(
+                self.observer_vehicle.lane_index
+            )
+            self.features_range = {
+                "x": [-5.0 * Vehicle.MAX_SPEED, 5.0 * Vehicle.MAX_SPEED],
+                "y": [
+                    -AbstractLane.DEFAULT_WIDTH * len(side_lanes),
+                    AbstractLane.DEFAULT_WIDTH * len(side_lanes),
+                ],
+                "vx": [-2 * Vehicle.MAX_SPEED, 2 * Vehicle.MAX_SPEED],
+                "vy": [-2 * Vehicle.MAX_SPEED, 2 * Vehicle.MAX_SPEED],
+            }
+        for feature, f_range in self.features_range.items():
+            if feature in df:
+                df[feature] = utils.lmap(df[feature], [f_range[0], f_range[1]], [-1, 1])
+                if self.clip:
+                    df[feature] = np.clip(df[feature], -1, 1)
+        return df

+
+
+

+[docs]
+    def observe(self) -> np.ndarray:
+        if not self.env.road:
+            return np.zeros(self.space().shape)
+
+        # Add ego-vehicle
+        df = pd.DataFrame.from_records([self.observer_vehicle.to_dict()])
+        # Add nearby traffic
+        close_vehicles = self.env.road.close_objects_to(
+            self.observer_vehicle,
+            self.env.PERCEPTION_DISTANCE,
+            count=self.vehicles_count - 1,
+            see_behind=self.see_behind,
+            sort=self.order == "sorted",
+            vehicles_only=not self.include_obstacles,
+        )
+        if close_vehicles:
+            origin = self.observer_vehicle if not self.absolute else None
+            vehicles_df = pd.DataFrame.from_records(
+                [
+                    v.to_dict(origin, observe_intentions=self.observe_intentions)
+                    for v in close_vehicles[-self.vehicles_count + 1 :]
+                ]
+            )
+            df = pd.concat([df, vehicles_df], ignore_index=True)
+
+        df = df[self.features]
+
+        # Normalize and clip
+        if self.normalize:
+            df = self.normalize_obs(df)
+        # Fill missing rows
+        if df.shape[0] < self.vehicles_count:
+            rows = np.zeros((self.vehicles_count - df.shape[0], len(self.features)))
+            df = pd.concat(
+                [df, pd.DataFrame(data=rows, columns=self.features)], ignore_index=True
+            )
+        # Reorder
+        df = df[self.features]
+        obs = df.values.copy()
+        if self.order == "shuffled":
+            self.env.np_random.shuffle(obs[1:])
+        # Flatten
+        return obs.astype(self.space().dtype)

+

+
+
+
+

+[docs]
+class OccupancyGridObservation(ObservationType):
+
+    """Observe an occupancy grid of nearby vehicles."""
+
+    FEATURES: List[str] = ["presence", "vx", "vy", "on_road"]
+    GRID_SIZE: List[List[float]] = [[-5.5 * 5, 5.5 * 5], [-5.5 * 5, 5.5 * 5]]
+    GRID_STEP: List[int] = [5, 5]
+
+    def __init__(
+        self,
+        env: "AbstractEnv",
+        features: Optional[List[str]] = None,
+        grid_size: Optional[Tuple[Tuple[float, float], Tuple[float, float]]] = None,
+        grid_step: Optional[Tuple[float, float]] = None,
+        features_range: Dict[str, List[float]] = None,
+        absolute: bool = False,
+        align_to_vehicle_axes: bool = False,
+        clip: bool = True,
+        as_image: bool = False,
+        **kwargs: dict
+    ) -> None:
+        """
+        :param env: The environment to observe
+        :param features: Names of features used in the observation
+        :param grid_size: real world size of the grid [[min_x, max_x], [min_y, max_y]]
+        :param grid_step: steps between two cells of the grid [step_x, step_y]
+        :param features_range: a dict mapping a feature name to [min, max] values
+        :param absolute: use absolute or relative coordinates
+        :param align_to_vehicle_axes: if True, the grid axes are aligned with vehicle axes. Else, they are aligned
+               with world axes.
+        :param clip: clip the observation in [-1, 1]
+        """
+        super().__init__(env)
+        self.features = features if features is not None else self.FEATURES
+        self.grid_size = (
+            np.array(grid_size) if grid_size is not None else np.array(self.GRID_SIZE)
+        )
+        self.grid_step = (
+            np.array(grid_step) if grid_step is not None else np.array(self.GRID_STEP)
+        )
+        grid_shape = np.asarray(
+            np.floor((self.grid_size[:, 1] - self.grid_size[:, 0]) / self.grid_step),
+            dtype=np.uint8,
+        )
+        self.grid = np.zeros((len(self.features), *grid_shape))
+        self.features_range = features_range
+        self.absolute = absolute
+        self.align_to_vehicle_axes = align_to_vehicle_axes
+        self.clip = clip
+        self.as_image = as_image
+
+

+[docs]
+    def space(self) -> spaces.Space:
+        if self.as_image:
+            return spaces.Box(shape=self.grid.shape, low=0, high=255, dtype=np.uint8)
+        else:
+            return spaces.Box(
+                shape=self.grid.shape, low=-np.inf, high=np.inf, dtype=np.float32
+            )

+
+
+

+[docs]
+    def normalize(self, df: pd.DataFrame) -> pd.DataFrame:
+        """
+        Normalize the observation values.
+
+        For now, assume that the road is straight along the x axis.
+        :param Dataframe df: observation data
+        """
+        if not self.features_range:
+            self.features_range = {
+                "vx": [-2 * Vehicle.MAX_SPEED, 2 * Vehicle.MAX_SPEED],
+                "vy": [-2 * Vehicle.MAX_SPEED, 2 * Vehicle.MAX_SPEED],
+            }
+        for feature, f_range in self.features_range.items():
+            if feature in df:
+                df[feature] = utils.lmap(df[feature], [f_range[0], f_range[1]], [-1, 1])
+        return df

+
+
+

+[docs]
+    def observe(self) -> np.ndarray:
+        if not self.env.road:
+            return np.zeros(self.space().shape)
+
+        if self.absolute:
+            raise NotImplementedError()
+        else:
+            # Initialize empty data
+            self.grid.fill(np.nan)
+
+            # Get nearby traffic data
+            df = pd.DataFrame.from_records(
+                [v.to_dict(self.observer_vehicle) for v in self.env.road.vehicles]
+            )
+            # Normalize
+            df = self.normalize(df)
+            # Fill-in features
+            for layer, feature in enumerate(self.features):
+                if feature in df.columns:  # A vehicle feature
+                    for _, vehicle in df[::-1].iterrows():
+                        x, y = vehicle["x"], vehicle["y"]
+                        # Recover unnormalized coordinates for cell index
+                        if "x" in self.features_range:
+                            x = utils.lmap(
+                                x,
+                                [-1, 1],
+                                [
+                                    self.features_range["x"][0],
+                                    self.features_range["x"][1],
+                                ],
+                            )
+                        if "y" in self.features_range:
+                            y = utils.lmap(
+                                y,
+                                [-1, 1],
+                                [
+                                    self.features_range["y"][0],
+                                    self.features_range["y"][1],
+                                ],
+                            )
+                        cell = self.pos_to_index((x, y), relative=not self.absolute)
+                        if (
+                            0 <= cell[0] < self.grid.shape[-2]
+                            and 0 <= cell[1] < self.grid.shape[-1]
+                        ):
+                            self.grid[layer, cell[0], cell[1]] = vehicle[feature]
+                elif feature == "on_road":
+                    self.fill_road_layer_by_lanes(layer)
+
+            obs = self.grid
+
+            if self.clip:
+                obs = np.clip(obs, -1, 1)
+
+            if self.as_image:
+                obs = ((np.clip(obs, -1, 1) + 1) / 2 * 255).astype(np.uint8)
+
+            obs = np.nan_to_num(obs).astype(self.space().dtype)
+
+            return obs

+
+
+

+[docs]
+    def pos_to_index(self, position: Vector, relative: bool = False) -> Tuple[int, int]:
+        """
+        Convert a world position to a grid cell index
+
+        If align_to_vehicle_axes the cells are in the vehicle's frame, otherwise in the world frame.
+
+        :param position: a world position
+        :param relative: whether the position is already relative to the observer's position
+        :return: the pair (i,j) of the cell index
+        """
+        if not relative:
+            position -= self.observer_vehicle.position
+        if self.align_to_vehicle_axes:
+            c, s = np.cos(self.observer_vehicle.heading), np.sin(
+                self.observer_vehicle.heading
+            )
+            position = np.array([[c, s], [-s, c]]) @ position
+        return (
+            int(np.floor((position[0] - self.grid_size[0, 0]) / self.grid_step[0])),
+            int(np.floor((position[1] - self.grid_size[1, 0]) / self.grid_step[1])),
+        )

+
+
+    def index_to_pos(self, index: Tuple[int, int]) -> np.ndarray:
+        position = np.array(
+            [
+                (index[0] + 0.5) * self.grid_step[0] + self.grid_size[0, 0],
+                (index[1] + 0.5) * self.grid_step[1] + self.grid_size[1, 0],
+            ]
+        )
+
+        if self.align_to_vehicle_axes:
+            c, s = np.cos(-self.observer_vehicle.heading), np.sin(
+                -self.observer_vehicle.heading
+            )
+            position = np.array([[c, s], [-s, c]]) @ position
+
+        position += self.observer_vehicle.position
+        return position
+
+

+[docs]
+    def fill_road_layer_by_lanes(
+        self, layer_index: int, lane_perception_distance: float = 100
+    ) -> None:
+        """
+        A layer to encode the onroad (1) / offroad (0) information
+
+        Here, we iterate over lanes and regularly placed waypoints on these lanes to fill the corresponding cells.
+        This approach is faster if the grid is large and the road network is small.
+
+        :param layer_index: index of the layer in the grid
+        :param lane_perception_distance: lanes are rendered +/- this distance from vehicle location
+        """
+        lane_waypoints_spacing = np.amin(self.grid_step)
+        road = self.env.road
+
+        for _from in road.network.graph.keys():
+            for _to in road.network.graph[_from].keys():
+                for lane in road.network.graph[_from][_to]:
+                    origin, _ = lane.local_coordinates(self.observer_vehicle.position)
+                    waypoints = np.arange(
+                        origin - lane_perception_distance,
+                        origin + lane_perception_distance,
+                        lane_waypoints_spacing,
+                    ).clip(0, lane.length)
+                    for waypoint in waypoints:
+                        cell = self.pos_to_index(lane.position(waypoint, 0))
+                        if (
+                            0 <= cell[0] < self.grid.shape[-2]
+                            and 0 <= cell[1] < self.grid.shape[-1]
+                        ):
+                            self.grid[layer_index, cell[0], cell[1]] = 1

+
+
+

+[docs]
+    def fill_road_layer_by_cell(self, layer_index) -> None:
+        """
+        A layer to encode the onroad (1) / offroad (0) information
+
+        In this implementation, we iterate the grid cells and check whether the corresponding world position
+        at the center of the cell is onroad/offroad. This approach is faster if the grid is small and the road network large.
+        """
+        road = self.env.road
+        for i, j in product(range(self.grid.shape[-2]), range(self.grid.shape[-1])):
+            for _from in road.network.graph.keys():
+                for _to in road.network.graph[_from].keys():
+                    for lane in road.network.graph[_from][_to]:
+                        if lane.on_lane(self.index_to_pos((i, j))):
+                            self.grid[layer_index, i, j] = 1

+

+
+
+
+

+[docs]
+class KinematicsGoalObservation(KinematicObservation):
+    def __init__(self, env: "AbstractEnv", scales: List[float], **kwargs: dict) -> None:
+        self.scales = np.array(scales)
+        super().__init__(env, **kwargs)
+
+

+[docs]
+    def space(self) -> spaces.Space:
+        try:
+            obs = self.observe()
+            return spaces.Dict(
+                dict(
+                    desired_goal=spaces.Box(
+                        -np.inf,
+                        np.inf,
+                        shape=obs["desired_goal"].shape,
+                        dtype=np.float64,
+                    ),
+                    achieved_goal=spaces.Box(
+                        -np.inf,
+                        np.inf,
+                        shape=obs["achieved_goal"].shape,
+                        dtype=np.float64,
+                    ),
+                    observation=spaces.Box(
+                        -np.inf,
+                        np.inf,
+                        shape=obs["observation"].shape,
+                        dtype=np.float64,
+                    ),
+                )
+            )
+        except AttributeError:
+            return spaces.Space()

+
+
+

+[docs]
+    def observe(self) -> Dict[str, np.ndarray]:
+        if not self.observer_vehicle:
+            return OrderedDict(
+                [
+                    ("observation", np.zeros((len(self.features),))),
+                    ("achieved_goal", np.zeros((len(self.features),))),
+                    ("desired_goal", np.zeros((len(self.features),))),
+                ]
+            )
+
+        obs = np.ravel(
+            pd.DataFrame.from_records([self.observer_vehicle.to_dict()])[self.features]
+        )
+        goal = np.ravel(
+            pd.DataFrame.from_records([self.observer_vehicle.goal.to_dict()])[
+                self.features
+            ]
+        )
+        obs = OrderedDict(
+            [
+                ("observation", obs / self.scales),
+                ("achieved_goal", obs / self.scales),
+                ("desired_goal", goal / self.scales),
+            ]
+        )
+        return obs

+

+
+
+
+class AttributesObservation(ObservationType):
+    def __init__(
+        self, env: "AbstractEnv", attributes: List[str], **kwargs: dict
+    ) -> None:
+        self.env = env
+        self.attributes = attributes
+
+    def space(self) -> spaces.Space:
+        try:
+            obs = self.observe()
+            return spaces.Dict(
+                {
+                    attribute: spaces.Box(
+                        -np.inf, np.inf, shape=obs[attribute].shape, dtype=np.float64
+                    )
+                    for attribute in self.attributes
+                }
+            )
+        except AttributeError:
+            return spaces.Space()
+
+    def observe(self) -> Dict[str, np.ndarray]:
+        return OrderedDict(
+            [(attribute, getattr(self.env, attribute)) for attribute in self.attributes]
+        )
+
+
+class MultiAgentObservation(ObservationType):
+    def __init__(self, env: "AbstractEnv", observation_config: dict, **kwargs) -> None:
+        super().__init__(env)
+        self.observation_config = observation_config
+        self.agents_observation_types = []
+        for vehicle in self.env.controlled_vehicles:
+            obs_type = observation_factory(self.env, self.observation_config)
+            obs_type.observer_vehicle = vehicle
+            self.agents_observation_types.append(obs_type)
+
+    def space(self) -> spaces.Space:
+        return spaces.Tuple(
+            [obs_type.space() for obs_type in self.agents_observation_types]
+        )
+
+    def observe(self) -> tuple:
+        return tuple(obs_type.observe() for obs_type in self.agents_observation_types)
+
+
+class TupleObservation(ObservationType):
+    def __init__(
+        self, env: "AbstractEnv", observation_configs: List[dict], **kwargs
+    ) -> None:
+        super().__init__(env)
+        self.observation_types = [
+            observation_factory(self.env, obs_config)
+            for obs_config in observation_configs
+        ]
+
+    def space(self) -> spaces.Space:
+        return spaces.Tuple([obs_type.space() for obs_type in self.observation_types])
+
+    def observe(self) -> tuple:
+        return tuple(obs_type.observe() for obs_type in self.observation_types)
+
+
+

+[docs]
+class ExitObservation(KinematicObservation):
+
+    """Specific to exit_env, observe the distance to the next exit lane as part of a KinematicObservation."""
+
+

+[docs]
+    def observe(self) -> np.ndarray:
+        if not self.env.road:
+            return np.zeros(self.space().shape)
+
+        # Add ego-vehicle
+        ego_dict = self.observer_vehicle.to_dict()
+        exit_lane = self.env.road.network.get_lane(("1", "2", -1))
+        ego_dict["x"] = exit_lane.local_coordinates(self.observer_vehicle.position)[0]
+        df = pd.DataFrame.from_records([ego_dict])[self.features]
+
+        # Add nearby traffic
+        close_vehicles = self.env.road.close_vehicles_to(
+            self.observer_vehicle,
+            self.env.PERCEPTION_DISTANCE,
+            count=self.vehicles_count - 1,
+            see_behind=self.see_behind,
+        )
+        if close_vehicles:
+            origin = self.observer_vehicle if not self.absolute else None
+            df = pd.concat(
+                [
+                    df,
+                    pd.DataFrame.from_records(
+                        [
+                            v.to_dict(
+                                origin, observe_intentions=self.observe_intentions
+                            )
+                            for v in close_vehicles[-self.vehicles_count + 1 :]
+                        ]
+                    )[self.features],
+                ],
+                ignore_index=True,
+            )
+        # Normalize and clip
+        if self.normalize:
+            df = self.normalize_obs(df)
+        # Fill missing rows
+        if df.shape[0] < self.vehicles_count:
+            rows = np.zeros((self.vehicles_count - df.shape[0], len(self.features)))
+            df = pd.concat(
+                [df, pd.DataFrame(data=rows, columns=self.features)], ignore_index=True
+            )
+        # Reorder
+        df = df[self.features]
+        obs = df.values.copy()
+        if self.order == "shuffled":
+            self.env.np_random.shuffle(obs[1:])
+        # Flatten
+        return obs

+

+
+
+
+class LidarObservation(ObservationType):
+    DISTANCE = 0
+    SPEED = 1
+
+    def __init__(
+        self,
+        env,
+        cells: int = 16,
+        maximum_range: float = 60,
+        normalize: bool = True,
+        **kwargs
+    ):
+        super().__init__(env, **kwargs)
+        self.cells = cells
+        self.maximum_range = maximum_range
+        self.normalize = normalize
+        self.angle = 2 * np.pi / self.cells
+        self.grid = np.ones((self.cells, 1)) * float("inf")
+        self.origin = None
+
+    def space(self) -> spaces.Space:
+        high = 1 if self.normalize else self.maximum_range
+        return spaces.Box(shape=(self.cells, 2), low=-high, high=high, dtype=np.float32)
+
+    def observe(self) -> np.ndarray:
+        obs = self.trace(
+            self.observer_vehicle.position, self.observer_vehicle.velocity
+        ).copy()
+        if self.normalize:
+            obs /= self.maximum_range
+        return obs
+
+    def trace(self, origin: np.ndarray, origin_velocity: np.ndarray) -> np.ndarray:
+        self.origin = origin.copy()
+        self.grid = np.ones((self.cells, 2)) * self.maximum_range
+
+        for obstacle in self.env.road.vehicles + self.env.road.objects:
+            if obstacle is self.observer_vehicle or not obstacle.solid:
+                continue
+            center_distance = np.linalg.norm(obstacle.position - origin)
+            if center_distance > self.maximum_range:
+                continue
+            center_angle = self.position_to_angle(obstacle.position, origin)
+            center_index = self.angle_to_index(center_angle)
+            distance = center_distance - obstacle.WIDTH / 2
+            if distance <= self.grid[center_index, self.DISTANCE]:
+                direction = self.index_to_direction(center_index)
+                velocity = (obstacle.velocity - origin_velocity).dot(direction)
+                self.grid[center_index, :] = [distance, velocity]
+
+            # Angular sector covered by the obstacle
+            corners = utils.rect_corners(
+                obstacle.position, obstacle.LENGTH, obstacle.WIDTH, obstacle.heading
+            )
+            angles = [self.position_to_angle(corner, origin) for corner in corners]
+            min_angle, max_angle = min(angles), max(angles)
+            if (
+                min_angle < -np.pi / 2 < np.pi / 2 < max_angle
+            ):  # Object's corners are wrapping around +pi
+                min_angle, max_angle = max_angle, min_angle + 2 * np.pi
+            start, end = self.angle_to_index(min_angle), self.angle_to_index(max_angle)
+            if start < end:
+                indexes = np.arange(start, end + 1)
+            else:  # Object's corners are wrapping around 0
+                indexes = np.hstack(
+                    [np.arange(start, self.cells), np.arange(0, end + 1)]
+                )
+
+            # Actual distance computation for these sections
+            for index in indexes:
+                direction = self.index_to_direction(index)
+                ray = [origin, origin + self.maximum_range * direction]
+                distance = utils.distance_to_rect(ray, corners)
+                if distance <= self.grid[index, self.DISTANCE]:
+                    velocity = (obstacle.velocity - origin_velocity).dot(direction)
+                    self.grid[index, :] = [distance, velocity]
+        return self.grid
+
+    def position_to_angle(self, position: np.ndarray, origin: np.ndarray) -> float:
+        return (
+            np.arctan2(position[1] - origin[1], position[0] - origin[0])
+            + self.angle / 2
+        )
+
+    def position_to_index(self, position: np.ndarray, origin: np.ndarray) -> int:
+        return self.angle_to_index(self.position_to_angle(position, origin))
+
+    def angle_to_index(self, angle: float) -> int:
+        return int(np.floor(angle / self.angle)) % self.cells
+
+    def index_to_direction(self, index: int) -> np.ndarray:
+        return np.array([np.cos(index * self.angle), np.sin(index * self.angle)])
+
+
+def observation_factory(env: "AbstractEnv", config: dict) -> ObservationType:
+    if config["type"] == "TimeToCollision":
+        return TimeToCollisionObservation(env, **config)
+    elif config["type"] == "Kinematics":
+        return KinematicObservation(env, **config)
+    elif config["type"] == "OccupancyGrid":
+        return OccupancyGridObservation(env, **config)
+    elif config["type"] == "KinematicsGoal":
+        return KinematicsGoalObservation(env, **config)
+    elif config["type"] == "GrayscaleObservation":
+        return GrayscaleObservation(env, **config)
+    elif config["type"] == "AttributesObservation":
+        return AttributesObservation(env, **config)
+    elif config["type"] == "MultiAgentObservation":
+        return MultiAgentObservation(env, **config)
+    elif config["type"] == "TupleObservation":
+        return TupleObservation(env, **config)
+    elif config["type"] == "LidarObservation":
+        return LidarObservation(env, **config)
+    elif config["type"] == "ExitObservation":
+        return ExitObservation(env, **config)
+    else:
+        raise ValueError("Unknown observation type")
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/highway_env/index.html b/v1.9/_modules/highway_env/envs/highway_env/index.html new file mode 100644 index 000000000..734631e06 --- /dev/null +++ b/v1.9/_modules/highway_env/envs/highway_env/index.html @@ -0,0 +1,762 @@ + + + + + + + + + + + + + + highway_env.envs.highway_env - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
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+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.highway_env

+from typing import Dict, Text
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.envs.common.abstract import AbstractEnv
+from highway_env.envs.common.action import Action
+from highway_env.road.road import Road, RoadNetwork
+from highway_env.utils import near_split
+from highway_env.vehicle.controller import ControlledVehicle
+from highway_env.vehicle.kinematics import Vehicle
+
+Observation = np.ndarray
+
+
+

+[docs]
+class HighwayEnv(AbstractEnv):
+    """
+    A highway driving environment.
+
+    The vehicle is driving on a straight highway with several lanes, and is rewarded for reaching a high speed,
+    staying on the rightmost lanes and avoiding collisions.
+    """
+
+

+[docs]
+    @classmethod
+    def default_config(cls) -> dict:
+        config = super().default_config()
+        config.update(
+            {
+                "observation": {"type": "Kinematics"},
+                "action": {
+                    "type": "DiscreteMetaAction",
+                },
+                "lanes_count": 4,
+                "vehicles_count": 50,
+                "controlled_vehicles": 1,
+                "initial_lane_id": None,
+                "duration": 40,  # [s]
+                "ego_spacing": 2,
+                "vehicles_density": 1,
+                "collision_reward": -1,  # The reward received when colliding with a vehicle.
+                "right_lane_reward": 0.1,  # The reward received when driving on the right-most lanes, linearly mapped to
+                # zero for other lanes.
+                "high_speed_reward": 0.4,  # The reward received when driving at full speed, linearly mapped to zero for
+                # lower speeds according to config["reward_speed_range"].
+                "lane_change_reward": 0,  # The reward received at each lane change action.
+                "reward_speed_range": [20, 30],
+                "normalize_reward": True,
+                "offroad_terminal": False,
+            }
+        )
+        return config

+
+
+    def _reset(self) -> None:
+        self._create_road()
+        self._create_vehicles()
+
+    def _create_road(self) -> None:
+        """Create a road composed of straight adjacent lanes."""
+        self.road = Road(
+            network=RoadNetwork.straight_road_network(
+                self.config["lanes_count"], speed_limit=30
+            ),
+            np_random=self.np_random,
+            record_history=self.config["show_trajectories"],
+        )
+
+    def _create_vehicles(self) -> None:
+        """Create some new random vehicles of a given type, and add them on the road."""
+        other_vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
+        other_per_controlled = near_split(
+            self.config["vehicles_count"], num_bins=self.config["controlled_vehicles"]
+        )
+
+        self.controlled_vehicles = []
+        for others in other_per_controlled:
+            vehicle = Vehicle.create_random(
+                self.road,
+                speed=25,
+                lane_id=self.config["initial_lane_id"],
+                spacing=self.config["ego_spacing"],
+            )
+            vehicle = self.action_type.vehicle_class(
+                self.road, vehicle.position, vehicle.heading, vehicle.speed
+            )
+            self.controlled_vehicles.append(vehicle)
+            self.road.vehicles.append(vehicle)
+
+            for _ in range(others):
+                vehicle = other_vehicles_type.create_random(
+                    self.road, spacing=1 / self.config["vehicles_density"]
+                )
+                vehicle.randomize_behavior()
+                self.road.vehicles.append(vehicle)
+
+    def _reward(self, action: Action) -> float:
+        """
+        The reward is defined to foster driving at high speed, on the rightmost lanes, and to avoid collisions.
+        :param action: the last action performed
+        :return: the corresponding reward
+        """
+        rewards = self._rewards(action)
+        reward = sum(
+            self.config.get(name, 0) * reward for name, reward in rewards.items()
+        )
+        if self.config["normalize_reward"]:
+            reward = utils.lmap(
+                reward,
+                [
+                    self.config["collision_reward"],
+                    self.config["high_speed_reward"] + self.config["right_lane_reward"],
+                ],
+                [0, 1],
+            )
+        reward *= rewards["on_road_reward"]
+        return reward
+
+    def _rewards(self, action: Action) -> Dict[Text, float]:
+        neighbours = self.road.network.all_side_lanes(self.vehicle.lane_index)
+        lane = (
+            self.vehicle.target_lane_index[2]
+            if isinstance(self.vehicle, ControlledVehicle)
+            else self.vehicle.lane_index[2]
+        )
+        # Use forward speed rather than speed, see https://github.com/eleurent/highway-env/issues/268
+        forward_speed = self.vehicle.speed * np.cos(self.vehicle.heading)
+        scaled_speed = utils.lmap(
+            forward_speed, self.config["reward_speed_range"], [0, 1]
+        )
+        return {
+            "collision_reward": float(self.vehicle.crashed),
+            "right_lane_reward": lane / max(len(neighbours) - 1, 1),
+            "high_speed_reward": np.clip(scaled_speed, 0, 1),
+            "on_road_reward": float(self.vehicle.on_road),
+        }
+
+    def _is_terminated(self) -> bool:
+        """The episode is over if the ego vehicle crashed."""
+        return (
+            self.vehicle.crashed
+            or self.config["offroad_terminal"]
+            and not self.vehicle.on_road
+        )
+
+    def _is_truncated(self) -> bool:
+        """The episode is truncated if the time limit is reached."""
+        return self.time >= self.config["duration"]

+
+
+
+class HighwayEnvFast(HighwayEnv):
+    """
+    A variant of highway-v0 with faster execution:
+        - lower simulation frequency
+        - fewer vehicles in the scene (and fewer lanes, shorter episode duration)
+        - only check collision of controlled vehicles with others
+    """
+
+    @classmethod
+    def default_config(cls) -> dict:
+        cfg = super().default_config()
+        cfg.update(
+            {
+                "simulation_frequency": 5,
+                "lanes_count": 3,
+                "vehicles_count": 20,
+                "duration": 30,  # [s]
+                "ego_spacing": 1.5,
+            }
+        )
+        return cfg
+
+    def _create_vehicles(self) -> None:
+        super()._create_vehicles()
+        # Disable collision check for uncontrolled vehicles
+        for vehicle in self.road.vehicles:
+            if vehicle not in self.controlled_vehicles:
+                vehicle.check_collisions = False
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/intersection_env/index.html b/v1.9/_modules/highway_env/envs/intersection_env/index.html new file mode 100644 index 000000000..964163130 --- /dev/null +++ b/v1.9/_modules/highway_env/envs/intersection_env/index.html @@ -0,0 +1,1014 @@ + + + + + + + + + + + + + + highway_env.envs.intersection_env - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.intersection_env

+from typing import Dict, Text, Tuple
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.envs.common.abstract import AbstractEnv
+from highway_env.road.lane import AbstractLane, CircularLane, LineType, StraightLane
+from highway_env.road.regulation import RegulatedRoad
+from highway_env.road.road import RoadNetwork
+from highway_env.vehicle.kinematics import Vehicle
+
+
+

+[docs]
+class IntersectionEnv(AbstractEnv):
+    ACTIONS: Dict[int, str] = {0: "SLOWER", 1: "IDLE", 2: "FASTER"}
+    ACTIONS_INDEXES = {v: k for k, v in ACTIONS.items()}
+
+

+[docs]
+    @classmethod
+    def default_config(cls) -> dict:
+        config = super().default_config()
+        config.update(
+            {
+                "observation": {
+                    "type": "Kinematics",
+                    "vehicles_count": 15,
+                    "features": ["presence", "x", "y", "vx", "vy", "cos_h", "sin_h"],
+                    "features_range": {
+                        "x": [-100, 100],
+                        "y": [-100, 100],
+                        "vx": [-20, 20],
+                        "vy": [-20, 20],
+                    },
+                    "absolute": True,
+                    "flatten": False,
+                    "observe_intentions": False,
+                },
+                "action": {
+                    "type": "DiscreteMetaAction",
+                    "longitudinal": True,
+                    "lateral": False,
+                    "target_speeds": [0, 4.5, 9],
+                },
+                "duration": 13,  # [s]
+                "destination": "o1",
+                "controlled_vehicles": 1,
+                "initial_vehicle_count": 10,
+                "spawn_probability": 0.6,
+                "screen_width": 600,
+                "screen_height": 600,
+                "centering_position": [0.5, 0.6],
+                "scaling": 5.5 * 1.3,
+                "collision_reward": -5,
+                "high_speed_reward": 1,
+                "arrived_reward": 1,
+                "reward_speed_range": [7.0, 9.0],
+                "normalize_reward": False,
+                "offroad_terminal": False,
+            }
+        )
+        return config

+
+
+    def _reward(self, action: int) -> float:
+        """Aggregated reward, for cooperative agents."""
+        return sum(
+            self._agent_reward(action, vehicle) for vehicle in self.controlled_vehicles
+        ) / len(self.controlled_vehicles)
+
+    def _rewards(self, action: int) -> Dict[Text, float]:
+        """Multi-objective rewards, for cooperative agents."""
+        agents_rewards = [
+            self._agent_rewards(action, vehicle) for vehicle in self.controlled_vehicles
+        ]
+        return {
+            name: sum(agent_rewards[name] for agent_rewards in agents_rewards)
+            / len(agents_rewards)
+            for name in agents_rewards[0].keys()
+        }
+
+    def _agent_reward(self, action: int, vehicle: Vehicle) -> float:
+        """Per-agent reward signal."""
+        rewards = self._agent_rewards(action, vehicle)
+        reward = sum(
+            self.config.get(name, 0) * reward for name, reward in rewards.items()
+        )
+        reward = self.config["arrived_reward"] if rewards["arrived_reward"] else reward
+        reward *= rewards["on_road_reward"]
+        if self.config["normalize_reward"]:
+            reward = utils.lmap(
+                reward,
+                [self.config["collision_reward"], self.config["arrived_reward"]],
+                [0, 1],
+            )
+        return reward
+
+    def _agent_rewards(self, action: int, vehicle: Vehicle) -> Dict[Text, float]:
+        """Per-agent per-objective reward signal."""
+        scaled_speed = utils.lmap(
+            vehicle.speed, self.config["reward_speed_range"], [0, 1]
+        )
+        return {
+            "collision_reward": vehicle.crashed,
+            "high_speed_reward": np.clip(scaled_speed, 0, 1),
+            "arrived_reward": self.has_arrived(vehicle),
+            "on_road_reward": vehicle.on_road,
+        }
+
+    def _is_terminated(self) -> bool:
+        return (
+            any(vehicle.crashed for vehicle in self.controlled_vehicles)
+            or all(self.has_arrived(vehicle) for vehicle in self.controlled_vehicles)
+            or (self.config["offroad_terminal"] and not self.vehicle.on_road)
+        )
+
+    def _agent_is_terminal(self, vehicle: Vehicle) -> bool:
+        """The episode is over when a collision occurs or when the access ramp has been passed."""
+        return vehicle.crashed or self.has_arrived(vehicle)
+
+    def _is_truncated(self) -> bool:
+        """The episode is truncated if the time limit is reached."""
+        return self.time >= self.config["duration"]
+
+    def _info(self, obs: np.ndarray, action: int) -> dict:
+        info = super()._info(obs, action)
+        info["agents_rewards"] = tuple(
+            self._agent_reward(action, vehicle) for vehicle in self.controlled_vehicles
+        )
+        info["agents_dones"] = tuple(
+            self._agent_is_terminal(vehicle) for vehicle in self.controlled_vehicles
+        )
+        return info
+
+    def _reset(self) -> None:
+        self._make_road()
+        self._make_vehicles(self.config["initial_vehicle_count"])
+
+

+[docs]
+    def step(self, action: int) -> Tuple[np.ndarray, float, bool, bool, dict]:
+        obs, reward, terminated, truncated, info = super().step(action)
+        self._clear_vehicles()
+        self._spawn_vehicle(spawn_probability=self.config["spawn_probability"])
+        return obs, reward, terminated, truncated, info

+
+
+    def _make_road(self) -> None:
+        """
+        Make an 4-way intersection.
+
+        The horizontal road has the right of way. More precisely, the levels of priority are:
+            - 3 for horizontal straight lanes and right-turns
+            - 1 for vertical straight lanes and right-turns
+            - 2 for horizontal left-turns
+            - 0 for vertical left-turns
+
+        The code for nodes in the road network is:
+        (o:outer | i:inner + [r:right, l:left]) + (0:south | 1:west | 2:north | 3:east)
+
+        :return: the intersection road
+        """
+        lane_width = AbstractLane.DEFAULT_WIDTH
+        right_turn_radius = lane_width + 5  # [m}
+        left_turn_radius = right_turn_radius + lane_width  # [m}
+        outer_distance = right_turn_radius + lane_width / 2
+        access_length = 50 + 50  # [m]
+
+        net = RoadNetwork()
+        n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
+        for corner in range(4):
+            angle = np.radians(90 * corner)
+            is_horizontal = corner % 2
+            priority = 3 if is_horizontal else 1
+            rotation = np.array(
+                [[np.cos(angle), -np.sin(angle)], [np.sin(angle), np.cos(angle)]]
+            )
+            # Incoming
+            start = rotation @ np.array(
+                [lane_width / 2, access_length + outer_distance]
+            )
+            end = rotation @ np.array([lane_width / 2, outer_distance])
+            net.add_lane(
+                "o" + str(corner),
+                "ir" + str(corner),
+                StraightLane(
+                    start, end, line_types=[s, c], priority=priority, speed_limit=10
+                ),
+            )
+            # Right turn
+            r_center = rotation @ (np.array([outer_distance, outer_distance]))
+            net.add_lane(
+                "ir" + str(corner),
+                "il" + str((corner - 1) % 4),
+                CircularLane(
+                    r_center,
+                    right_turn_radius,
+                    angle + np.radians(180),
+                    angle + np.radians(270),
+                    line_types=[n, c],
+                    priority=priority,
+                    speed_limit=10,
+                ),
+            )
+            # Left turn
+            l_center = rotation @ (
+                np.array(
+                    [
+                        -left_turn_radius + lane_width / 2,
+                        left_turn_radius - lane_width / 2,
+                    ]
+                )
+            )
+            net.add_lane(
+                "ir" + str(corner),
+                "il" + str((corner + 1) % 4),
+                CircularLane(
+                    l_center,
+                    left_turn_radius,
+                    angle + np.radians(0),
+                    angle + np.radians(-90),
+                    clockwise=False,
+                    line_types=[n, n],
+                    priority=priority - 1,
+                    speed_limit=10,
+                ),
+            )
+            # Straight
+            start = rotation @ np.array([lane_width / 2, outer_distance])
+            end = rotation @ np.array([lane_width / 2, -outer_distance])
+            net.add_lane(
+                "ir" + str(corner),
+                "il" + str((corner + 2) % 4),
+                StraightLane(
+                    start, end, line_types=[s, n], priority=priority, speed_limit=10
+                ),
+            )
+            # Exit
+            start = rotation @ np.flip(
+                [lane_width / 2, access_length + outer_distance], axis=0
+            )
+            end = rotation @ np.flip([lane_width / 2, outer_distance], axis=0)
+            net.add_lane(
+                "il" + str((corner - 1) % 4),
+                "o" + str((corner - 1) % 4),
+                StraightLane(
+                    end, start, line_types=[n, c], priority=priority, speed_limit=10
+                ),
+            )
+
+        road = RegulatedRoad(
+            network=net,
+            np_random=self.np_random,
+            record_history=self.config["show_trajectories"],
+        )
+        self.road = road
+
+    def _make_vehicles(self, n_vehicles: int = 10) -> None:
+        """
+        Populate a road with several vehicles on the highway and on the merging lane
+
+        :return: the ego-vehicle
+        """
+        # Configure vehicles
+        vehicle_type = utils.class_from_path(self.config["other_vehicles_type"])
+        vehicle_type.DISTANCE_WANTED = 7  # Low jam distance
+        vehicle_type.COMFORT_ACC_MAX = 6
+        vehicle_type.COMFORT_ACC_MIN = -3
+
+        # Random vehicles
+        simulation_steps = 3
+        for t in range(n_vehicles - 1):
+            self._spawn_vehicle(np.linspace(0, 80, n_vehicles)[t])
+        for _ in range(simulation_steps):
+            [
+                (
+                    self.road.act(),
+                    self.road.step(1 / self.config["simulation_frequency"]),
+                )
+                for _ in range(self.config["simulation_frequency"])
+            ]
+
+        # Challenger vehicle
+        self._spawn_vehicle(
+            60,
+            spawn_probability=1,
+            go_straight=True,
+            position_deviation=0.1,
+            speed_deviation=0,
+        )
+
+        # Controlled vehicles
+        self.controlled_vehicles = []
+        for ego_id in range(0, self.config["controlled_vehicles"]):
+            ego_lane = self.road.network.get_lane(
+                ("o{}".format(ego_id % 4), "ir{}".format(ego_id % 4), 0)
+            )
+            destination = self.config["destination"] or "o" + str(
+                self.np_random.integers(1, 4)
+            )
+            ego_vehicle = self.action_type.vehicle_class(
+                self.road,
+                ego_lane.position(60 + 5 * self.np_random.normal(1), 0),
+                speed=ego_lane.speed_limit,
+                heading=ego_lane.heading_at(60),
+            )
+            try:
+                ego_vehicle.plan_route_to(destination)
+                ego_vehicle.speed_index = ego_vehicle.speed_to_index(
+                    ego_lane.speed_limit
+                )
+                ego_vehicle.target_speed = ego_vehicle.index_to_speed(
+                    ego_vehicle.speed_index
+                )
+            except AttributeError:
+                pass
+
+            self.road.vehicles.append(ego_vehicle)
+            self.controlled_vehicles.append(ego_vehicle)
+            for v in self.road.vehicles:  # Prevent early collisions
+                if (
+                    v is not ego_vehicle
+                    and np.linalg.norm(v.position - ego_vehicle.position) < 20
+                ):
+                    self.road.vehicles.remove(v)
+
+    def _spawn_vehicle(
+        self,
+        longitudinal: float = 0,
+        position_deviation: float = 1.0,
+        speed_deviation: float = 1.0,
+        spawn_probability: float = 0.6,
+        go_straight: bool = False,
+    ) -> None:
+        if self.np_random.uniform() > spawn_probability:
+            return
+
+        route = self.np_random.choice(range(4), size=2, replace=False)
+        route[1] = (route[0] + 2) % 4 if go_straight else route[1]
+        vehicle_type = utils.class_from_path(self.config["other_vehicles_type"])
+        vehicle = vehicle_type.make_on_lane(
+            self.road,
+            ("o" + str(route[0]), "ir" + str(route[0]), 0),
+            longitudinal=(
+                longitudinal + 5 + self.np_random.normal() * position_deviation
+            ),
+            speed=8 + self.np_random.normal() * speed_deviation,
+        )
+        for v in self.road.vehicles:
+            if np.linalg.norm(v.position - vehicle.position) < 15:
+                return
+        vehicle.plan_route_to("o" + str(route[1]))
+        vehicle.randomize_behavior()
+        self.road.vehicles.append(vehicle)
+        return vehicle
+
+    def _clear_vehicles(self) -> None:
+        is_leaving = (
+            lambda vehicle: "il" in vehicle.lane_index[0]
+            and "o" in vehicle.lane_index[1]
+            and vehicle.lane.local_coordinates(vehicle.position)[0]
+            >= vehicle.lane.length - 4 * vehicle.LENGTH
+        )
+        self.road.vehicles = [
+            vehicle
+            for vehicle in self.road.vehicles
+            if vehicle in self.controlled_vehicles
+            or not (is_leaving(vehicle) or vehicle.route is None)
+        ]
+
+    def has_arrived(self, vehicle: Vehicle, exit_distance: float = 25) -> bool:
+        return (
+            "il" in vehicle.lane_index[0]
+            and "o" in vehicle.lane_index[1]
+            and vehicle.lane.local_coordinates(vehicle.position)[0] >= exit_distance
+        )

+
+
+
+class MultiAgentIntersectionEnv(IntersectionEnv):
+    @classmethod
+    def default_config(cls) -> dict:
+        config = super().default_config()
+        config.update(
+            {
+                "action": {
+                    "type": "MultiAgentAction",
+                    "action_config": {
+                        "type": "DiscreteMetaAction",
+                        "lateral": False,
+                        "longitudinal": True,
+                    },
+                },
+                "observation": {
+                    "type": "MultiAgentObservation",
+                    "observation_config": {"type": "Kinematics"},
+                },
+                "controlled_vehicles": 2,
+            }
+        )
+        return config
+
+
+class ContinuousIntersectionEnv(IntersectionEnv):
+    @classmethod
+    def default_config(cls) -> dict:
+        config = super().default_config()
+        config.update(
+            {
+                "observation": {
+                    "type": "Kinematics",
+                    "vehicles_count": 5,
+                    "features": [
+                        "presence",
+                        "x",
+                        "y",
+                        "vx",
+                        "vy",
+                        "long_off",
+                        "lat_off",
+                        "ang_off",
+                    ],
+                },
+                "action": {
+                    "type": "ContinuousAction",
+                    "steering_range": [-np.pi / 3, np.pi / 3],
+                    "longitudinal": True,
+                    "lateral": True,
+                    "dynamical": True,
+                },
+            }
+        )
+        return config
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/merge_env/index.html b/v1.9/_modules/highway_env/envs/merge_env/index.html new file mode 100644 index 000000000..e0cd99d97 --- /dev/null +++ b/v1.9/_modules/highway_env/envs/merge_env/index.html @@ -0,0 +1,769 @@ + + + + + + + + + + + + + + highway_env.envs.merge_env - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.merge_env

+from typing import Dict, Text
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.envs.common.abstract import AbstractEnv
+from highway_env.road.lane import LineType, SineLane, StraightLane
+from highway_env.road.road import Road, RoadNetwork
+from highway_env.vehicle.controller import ControlledVehicle
+from highway_env.vehicle.objects import Obstacle
+
+
+

+[docs]
+class MergeEnv(AbstractEnv):
+
+    """
+    A highway merge negotiation environment.
+
+    The ego-vehicle is driving on a highway and approached a merge, with some vehicles incoming on the access ramp.
+    It is rewarded for maintaining a high speed and avoiding collisions, but also making room for merging
+    vehicles.
+    """
+
+

+[docs]
+    @classmethod
+    def default_config(cls) -> dict:
+        cfg = super().default_config()
+        cfg.update(
+            {
+                "collision_reward": -1,
+                "right_lane_reward": 0.1,
+                "high_speed_reward": 0.2,
+                "reward_speed_range": [20, 30],
+                "merging_speed_reward": -0.5,
+                "lane_change_reward": -0.05,
+            }
+        )
+        return cfg

+
+
+    def _reward(self, action: int) -> float:
+        """
+        The vehicle is rewarded for driving with high speed on lanes to the right and avoiding collisions
+
+        But an additional altruistic penalty is also suffered if any vehicle on the merging lane has a low speed.
+
+        :param action: the action performed
+        :return: the reward of the state-action transition
+        """
+        reward = sum(
+            self.config.get(name, 0) * reward
+            for name, reward in self._rewards(action).items()
+        )
+        return utils.lmap(
+            reward,
+            [
+                self.config["collision_reward"] + self.config["merging_speed_reward"],
+                self.config["high_speed_reward"] + self.config["right_lane_reward"],
+            ],
+            [0, 1],
+        )
+
+    def _rewards(self, action: int) -> Dict[Text, float]:
+        scaled_speed = utils.lmap(
+            self.vehicle.speed, self.config["reward_speed_range"], [0, 1]
+        )
+        return {
+            "collision_reward": self.vehicle.crashed,
+            "right_lane_reward": self.vehicle.lane_index[2] / 1,
+            "high_speed_reward": scaled_speed,
+            "lane_change_reward": action in [0, 2],
+            "merging_speed_reward": sum(  # Altruistic penalty
+                (vehicle.target_speed - vehicle.speed) / vehicle.target_speed
+                for vehicle in self.road.vehicles
+                if vehicle.lane_index == ("b", "c", 2)
+                and isinstance(vehicle, ControlledVehicle)
+            ),
+        }
+
+    def _is_terminated(self) -> bool:
+        """The episode is over when a collision occurs or when the access ramp has been passed."""
+        print("crash" + str(self.vehicle.crashed))
+        print("over" + str(self.vehicle.position[0] > 370))
+        return self.vehicle.crashed or bool(self.vehicle.position[0] > 370)
+
+    def _is_truncated(self) -> bool:
+        return False
+
+    def _reset(self) -> None:
+        self._make_road()
+        self._make_vehicles()
+
+    def _make_road(self) -> None:
+        """
+        Make a road composed of a straight highway and a merging lane.
+
+        :return: the road
+        """
+        net = RoadNetwork()
+
+        # Highway lanes
+        ends = [150, 80, 80, 150]  # Before, converging, merge, after
+        c, s, n = LineType.CONTINUOUS_LINE, LineType.STRIPED, LineType.NONE
+        y = [0, StraightLane.DEFAULT_WIDTH]
+        line_type = [[c, s], [n, c]]
+        line_type_merge = [[c, s], [n, s]]
+        for i in range(2):
+            net.add_lane(
+                "a",
+                "b",
+                StraightLane([0, y[i]], [sum(ends[:2]), y[i]], line_types=line_type[i]),
+            )
+            net.add_lane(
+                "b",
+                "c",
+                StraightLane(
+                    [sum(ends[:2]), y[i]],
+                    [sum(ends[:3]), y[i]],
+                    line_types=line_type_merge[i],
+                ),
+            )
+            net.add_lane(
+                "c",
+                "d",
+                StraightLane(
+                    [sum(ends[:3]), y[i]], [sum(ends), y[i]], line_types=line_type[i]
+                ),
+            )
+
+        # Merging lane
+        amplitude = 3.25
+        ljk = StraightLane(
+            [0, 6.5 + 4 + 4], [ends[0], 6.5 + 4 + 4], line_types=[c, c], forbidden=True
+        )
+        lkb = SineLane(
+            ljk.position(ends[0], -amplitude),
+            ljk.position(sum(ends[:2]), -amplitude),
+            amplitude,
+            2 * np.pi / (2 * ends[1]),
+            np.pi / 2,
+            line_types=[c, c],
+            forbidden=True,
+        )
+        lbc = StraightLane(
+            lkb.position(ends[1], 0),
+            lkb.position(ends[1], 0) + [ends[2], 0],
+            line_types=[n, c],
+            forbidden=True,
+        )
+        net.add_lane("j", "k", ljk)
+        net.add_lane("k", "b", lkb)
+        net.add_lane("b", "c", lbc)
+        road = Road(
+            network=net,
+            np_random=self.np_random,
+            record_history=self.config["show_trajectories"],
+        )
+        road.objects.append(Obstacle(road, lbc.position(ends[2], 0)))
+        self.road = road
+
+    def _make_vehicles(self) -> None:
+        """
+        Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
+
+        :return: the ego-vehicle
+        """
+        road = self.road
+        ego_vehicle = self.action_type.vehicle_class(
+            road, road.network.get_lane(("a", "b", 1)).position(30, 0), speed=30
+        )
+        road.vehicles.append(ego_vehicle)
+
+        other_vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
+
+        for position, speed in [(90, 29), (70, 31), (5, 31.5)]:
+            lane = road.network.get_lane(("a", "b", self.np_random.integers(2)))
+            position = lane.position(position + self.np_random.uniform(-5, 5), 0)
+            speed += self.np_random.uniform(-1, 1)
+            road.vehicles.append(other_vehicles_type(road, position, speed=speed))
+
+        merging_v = other_vehicles_type(
+            road, road.network.get_lane(("j", "k", 0)).position(110, 0), speed=20
+        )
+        merging_v.target_speed = 30
+        road.vehicles.append(merging_v)
+        self.vehicle = ego_vehicle

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/parking_env/index.html b/v1.9/_modules/highway_env/envs/parking_env/index.html new file mode 100644 index 000000000..cbf59982c --- /dev/null +++ b/v1.9/_modules/highway_env/envs/parking_env/index.html @@ -0,0 +1,885 @@ + + + + + + + + + + + + + + highway_env.envs.parking_env - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.parking_env

+from abc import abstractmethod
+from typing import Optional
+
+import numpy as np
+from gymnasium import Env
+
+from highway_env.envs.common.abstract import AbstractEnv
+from highway_env.envs.common.observation import (
+    MultiAgentObservation,
+    observation_factory,
+)
+from highway_env.road.lane import LineType, StraightLane
+from highway_env.road.road import Road, RoadNetwork
+from highway_env.vehicle.graphics import VehicleGraphics
+from highway_env.vehicle.kinematics import Vehicle
+from highway_env.vehicle.objects import Landmark, Obstacle
+
+
+class GoalEnv(Env):
+    """
+    Interface for A goal-based environment.
+
+    This interface is needed by agents such as Stable Baseline3's Hindsight Experience Replay (HER) agent.
+    It was originally part of https://github.com/openai/gym, but was later moved
+    to https://github.com/Farama-Foundation/gym-robotics. We cannot add gym-robotics to this project's dependencies,
+    since it does not have an official PyPi package, PyPi does not allow direct dependencies to git repositories.
+    So instead, we just reproduce the interface here.
+
+    A goal-based environment. It functions just as any regular OpenAI Gym environment but it
+    imposes a required structure on the observation_space. More concretely, the observation
+    space is required to contain at least three elements, namely `observation`, `desired_goal`, and
+    `achieved_goal`. Here, `desired_goal` specifies the goal that the agent should attempt to achieve.
+    `achieved_goal` is the goal that it currently achieved instead. `observation` contains the
+    actual observations of the environment as per usual.
+    """
+
+    @abstractmethod
+    def compute_reward(
+        self, achieved_goal: np.ndarray, desired_goal: np.ndarray, info: dict
+    ) -> float:
+        """Compute the step reward. This externalizes the reward function and makes
+        it dependent on a desired goal and the one that was achieved. If you wish to include
+        additional rewards that are independent of the goal, you can include the necessary values
+        to derive it in 'info' and compute it accordingly.
+        Args:
+            achieved_goal (object): the goal that was achieved during execution
+            desired_goal (object): the desired goal that we asked the agent to attempt to achieve
+            info (dict): an info dictionary with additional information
+        Returns:
+            float: The reward that corresponds to the provided achieved goal w.r.t. to the desired
+            goal. Note that the following should always hold true:
+                ob, reward, done, info = env.step()
+                assert reward == env.compute_reward(ob['achieved_goal'], ob['desired_goal'], info)
+        """
+        raise NotImplementedError
+
+
+

+[docs]
+class ParkingEnv(AbstractEnv, GoalEnv):
+    """
+    A continuous control environment.
+
+    It implements a reach-type task, where the agent observes their position and speed and must
+    control their acceleration and steering so as to reach a given goal.
+
+    Credits to Munir Jojo-Verge for the idea and initial implementation.
+    """
+
+    # For parking env with GrayscaleObservation, the env need
+    # this PARKING_OBS to calculate the reward and the info.
+    # Bug fixed by Mcfly(https://github.com/McflyWZX)
+    PARKING_OBS = {
+        "observation": {
+            "type": "KinematicsGoal",
+            "features": ["x", "y", "vx", "vy", "cos_h", "sin_h"],
+            "scales": [100, 100, 5, 5, 1, 1],
+            "normalize": False,
+        }
+    }
+
+    def __init__(self, config: dict = None, render_mode: Optional[str] = None) -> None:
+        super().__init__(config, render_mode)
+        self.observation_type_parking = None
+
+

+[docs]
+    @classmethod
+    def default_config(cls) -> dict:
+        config = super().default_config()
+        config.update(
+            {
+                "observation": {
+                    "type": "KinematicsGoal",
+                    "features": ["x", "y", "vx", "vy", "cos_h", "sin_h"],
+                    "scales": [100, 100, 5, 5, 1, 1],
+                    "normalize": False,
+                },
+                "action": {"type": "ContinuousAction"},
+                "reward_weights": [1, 0.3, 0, 0, 0.02, 0.02],
+                "success_goal_reward": 0.12,
+                "collision_reward": -5,
+                "steering_range": np.deg2rad(45),
+                "simulation_frequency": 15,
+                "policy_frequency": 5,
+                "duration": 100,
+                "screen_width": 600,
+                "screen_height": 300,
+                "centering_position": [0.5, 0.5],
+                "scaling": 7,
+                "controlled_vehicles": 1,
+                "vehicles_count": 0,
+                "add_walls": True,
+            }
+        )
+        return config

+
+
+

+[docs]
+    def define_spaces(self) -> None:
+        """
+        Set the types and spaces of observation and action from config.
+        """
+        super().define_spaces()
+        self.observation_type_parking = observation_factory(
+            self, self.PARKING_OBS["observation"]
+        )

+
+
+    def _info(self, obs, action) -> dict:
+        info = super(ParkingEnv, self)._info(obs, action)
+        if isinstance(self.observation_type, MultiAgentObservation):
+            success = tuple(
+                self._is_success(agent_obs["achieved_goal"], agent_obs["desired_goal"])
+                for agent_obs in obs
+            )
+        else:
+            obs = self.observation_type_parking.observe()
+            success = self._is_success(obs["achieved_goal"], obs["desired_goal"])
+        info.update({"is_success": success})
+        return info
+
+    def _reset(self):
+        self._create_road()
+        self._create_vehicles()
+
+    def _create_road(self, spots: int = 14) -> None:
+        """
+        Create a road composed of straight adjacent lanes.
+
+        :param spots: number of spots in the parking
+        """
+        net = RoadNetwork()
+        width = 4.0
+        lt = (LineType.CONTINUOUS, LineType.CONTINUOUS)
+        x_offset = 0
+        y_offset = 10
+        length = 8
+        for k in range(spots):
+            x = (k + 1 - spots // 2) * (width + x_offset) - width / 2
+            net.add_lane(
+                "a",
+                "b",
+                StraightLane(
+                    [x, y_offset], [x, y_offset + length], width=width, line_types=lt
+                ),
+            )
+            net.add_lane(
+                "b",
+                "c",
+                StraightLane(
+                    [x, -y_offset], [x, -y_offset - length], width=width, line_types=lt
+                ),
+            )
+
+        self.road = Road(
+            network=net,
+            np_random=self.np_random,
+            record_history=self.config["show_trajectories"],
+        )
+
+    def _create_vehicles(self) -> None:
+        """Create some new random vehicles of a given type, and add them on the road."""
+        empty_spots = list(self.road.network.lanes_dict().keys())
+
+        # Controlled vehicles
+        self.controlled_vehicles = []
+        for i in range(self.config["controlled_vehicles"]):
+            x0 = (i - self.config["controlled_vehicles"] // 2) * 10
+            vehicle = self.action_type.vehicle_class(
+                self.road, [x0, 0], 2 * np.pi * self.np_random.uniform(), 0
+            )
+            vehicle.color = VehicleGraphics.EGO_COLOR
+            self.road.vehicles.append(vehicle)
+            self.controlled_vehicles.append(vehicle)
+            empty_spots.remove(vehicle.lane_index)
+
+        # Goal
+        for vehicle in self.controlled_vehicles:
+            lane_index = empty_spots[self.np_random.choice(np.arange(len(empty_spots)))]
+            lane = self.road.network.get_lane(lane_index)
+            vehicle.goal = Landmark(
+                self.road, lane.position(lane.length / 2, 0), heading=lane.heading
+            )
+            self.road.objects.append(vehicle.goal)
+            empty_spots.remove(lane_index)
+
+        # Other vehicles
+        for i in range(self.config["vehicles_count"]):
+            if not empty_spots:
+                continue
+            lane_index = empty_spots[self.np_random.choice(np.arange(len(empty_spots)))]
+            v = Vehicle.make_on_lane(self.road, lane_index, 4, speed=0)
+            self.road.vehicles.append(v)
+            empty_spots.remove(lane_index)
+
+        # Walls
+        if self.config["add_walls"]:
+            width, height = 70, 42
+            for y in [-height / 2, height / 2]:
+                obstacle = Obstacle(self.road, [0, y])
+                obstacle.LENGTH, obstacle.WIDTH = (width, 1)
+                obstacle.diagonal = np.sqrt(obstacle.LENGTH**2 + obstacle.WIDTH**2)
+                self.road.objects.append(obstacle)
+            for x in [-width / 2, width / 2]:
+                obstacle = Obstacle(self.road, [x, 0], heading=np.pi / 2)
+                obstacle.LENGTH, obstacle.WIDTH = (height, 1)
+                obstacle.diagonal = np.sqrt(obstacle.LENGTH**2 + obstacle.WIDTH**2)
+                self.road.objects.append(obstacle)
+
+

+[docs]
+    def compute_reward(
+        self,
+        achieved_goal: np.ndarray,
+        desired_goal: np.ndarray,
+        info: dict,
+        p: float = 0.5,
+    ) -> float:
+        """
+        Proximity to the goal is rewarded
+
+        We use a weighted p-norm
+
+        :param achieved_goal: the goal that was achieved
+        :param desired_goal: the goal that was desired
+        :param dict info: any supplementary information
+        :param p: the Lp^p norm used in the reward. Use p<1 to have high kurtosis for rewards in [0, 1]
+        :return: the corresponding reward
+        """
+        return -np.power(
+            np.dot(
+                np.abs(achieved_goal - desired_goal),
+                np.array(self.config["reward_weights"]),
+            ),
+            p,
+        )

+
+
+    def _reward(self, action: np.ndarray) -> float:
+        obs = self.observation_type_parking.observe()
+        obs = obs if isinstance(obs, tuple) else (obs,)
+        reward = sum(
+            self.compute_reward(
+                agent_obs["achieved_goal"], agent_obs["desired_goal"], {}
+            )
+            for agent_obs in obs
+        )
+        reward += self.config["collision_reward"] * sum(
+            v.crashed for v in self.controlled_vehicles
+        )
+        return reward
+
+    def _is_success(self, achieved_goal: np.ndarray, desired_goal: np.ndarray) -> bool:
+        return (
+            self.compute_reward(achieved_goal, desired_goal, {})
+            > -self.config["success_goal_reward"]
+        )
+
+    def _is_terminated(self) -> bool:
+        """The episode is over if the ego vehicle crashed or the goal is reached or time is over."""
+        crashed = any(vehicle.crashed for vehicle in self.controlled_vehicles)
+        obs = self.observation_type_parking.observe()
+        obs = obs if isinstance(obs, tuple) else (obs,)
+        success = all(
+            self._is_success(agent_obs["achieved_goal"], agent_obs["desired_goal"])
+            for agent_obs in obs
+        )
+        return bool(crashed or success)
+
+    def _is_truncated(self) -> bool:
+        """The episode is truncated if the time is over."""
+        return self.time >= self.config["duration"]

+
+
+
+class ParkingEnvActionRepeat(ParkingEnv):
+    def __init__(self):
+        super().__init__({"policy_frequency": 1, "duration": 20})
+
+
+class ParkingEnvParkedVehicles(ParkingEnv):
+    def __init__(self):
+        super().__init__({"vehicles_count": 10})
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/racetrack_env/index.html b/v1.9/_modules/highway_env/envs/racetrack_env/index.html new file mode 100644 index 000000000..af57a7fa9 --- /dev/null +++ b/v1.9/_modules/highway_env/envs/racetrack_env/index.html @@ -0,0 +1,996 @@ + + + + + + + + + + + + + + highway_env.envs.racetrack_env - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.racetrack_env

+from typing import Dict, Text
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.envs.common.abstract import AbstractEnv
+from highway_env.road.lane import CircularLane, LineType, StraightLane
+from highway_env.road.road import Road, RoadNetwork
+from highway_env.vehicle.behavior import IDMVehicle
+
+
+

+[docs]
+class RacetrackEnv(AbstractEnv):
+    """
+    A continuous control environment.
+
+    The agent needs to learn two skills:
+    - follow the tracks
+    - avoid collisions with other vehicles
+
+    Credits and many thanks to @supperted825 for the idea and initial implementation.
+    See https://github.com/eleurent/highway-env/issues/231
+    """
+
+

+[docs]
+    @classmethod
+    def default_config(cls) -> dict:
+        config = super().default_config()
+        config.update(
+            {
+                "observation": {
+                    "type": "OccupancyGrid",
+                    "features": ["presence", "on_road"],
+                    "grid_size": [[-18, 18], [-18, 18]],
+                    "grid_step": [3, 3],
+                    "as_image": False,
+                    "align_to_vehicle_axes": True,
+                },
+                "action": {
+                    "type": "ContinuousAction",
+                    "longitudinal": False,
+                    "lateral": True,
+                    "target_speeds": [0, 5, 10],
+                },
+                "simulation_frequency": 15,
+                "policy_frequency": 5,
+                "duration": 300,
+                "collision_reward": -1,
+                "lane_centering_cost": 4,
+                "lane_centering_reward": 1,
+                "action_reward": -0.3,
+                "controlled_vehicles": 1,
+                "other_vehicles": 1,
+                "screen_width": 600,
+                "screen_height": 600,
+                "centering_position": [0.5, 0.5],
+            }
+        )
+        return config

+
+
+    def _reward(self, action: np.ndarray) -> float:
+        rewards = self._rewards(action)
+        reward = sum(
+            self.config.get(name, 0) * reward for name, reward in rewards.items()
+        )
+        reward = utils.lmap(reward, [self.config["collision_reward"], 1], [0, 1])
+        reward *= rewards["on_road_reward"]
+        return reward
+
+    def _rewards(self, action: np.ndarray) -> Dict[Text, float]:
+        _, lateral = self.vehicle.lane.local_coordinates(self.vehicle.position)
+        return {
+            "lane_centering_reward": 1
+            / (1 + self.config["lane_centering_cost"] * lateral**2),
+            "action_reward": np.linalg.norm(action),
+            "collision_reward": self.vehicle.crashed,
+            "on_road_reward": self.vehicle.on_road,
+        }
+
+    def _is_terminated(self) -> bool:
+        return self.vehicle.crashed
+
+    def _is_truncated(self) -> bool:
+        return self.time >= self.config["duration"]
+
+    def _reset(self) -> None:
+        self._make_road()
+        self._make_vehicles()
+
+    def _make_road(self) -> None:
+        net = RoadNetwork()
+
+        # Set Speed Limits for Road Sections - Straight, Turn20, Straight, Turn 15, Turn15, Straight, Turn25x2, Turn18
+        speedlimits = [None, 10, 10, 10, 10, 10, 10, 10, 10]
+
+        # Initialise First Lane
+        lane = StraightLane(
+            [42, 0],
+            [100, 0],
+            line_types=(LineType.CONTINUOUS, LineType.STRIPED),
+            width=5,
+            speed_limit=speedlimits[1],
+        )
+        self.lane = lane
+
+        # Add Lanes to Road Network - Straight Section
+        net.add_lane("a", "b", lane)
+        net.add_lane(
+            "a",
+            "b",
+            StraightLane(
+                [42, 5],
+                [100, 5],
+                line_types=(LineType.STRIPED, LineType.CONTINUOUS),
+                width=5,
+                speed_limit=speedlimits[1],
+            ),
+        )
+
+        # 2 - Circular Arc #1
+        center1 = [100, -20]
+        radii1 = 20
+        net.add_lane(
+            "b",
+            "c",
+            CircularLane(
+                center1,
+                radii1,
+                np.deg2rad(90),
+                np.deg2rad(-1),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.CONTINUOUS, LineType.NONE),
+                speed_limit=speedlimits[2],
+            ),
+        )
+        net.add_lane(
+            "b",
+            "c",
+            CircularLane(
+                center1,
+                radii1 + 5,
+                np.deg2rad(90),
+                np.deg2rad(-1),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.STRIPED, LineType.CONTINUOUS),
+                speed_limit=speedlimits[2],
+            ),
+        )
+
+        # 3 - Vertical Straight
+        net.add_lane(
+            "c",
+            "d",
+            StraightLane(
+                [120, -20],
+                [120, -30],
+                line_types=(LineType.CONTINUOUS, LineType.NONE),
+                width=5,
+                speed_limit=speedlimits[3],
+            ),
+        )
+        net.add_lane(
+            "c",
+            "d",
+            StraightLane(
+                [125, -20],
+                [125, -30],
+                line_types=(LineType.STRIPED, LineType.CONTINUOUS),
+                width=5,
+                speed_limit=speedlimits[3],
+            ),
+        )
+
+        # 4 - Circular Arc #2
+        center2 = [105, -30]
+        radii2 = 15
+        net.add_lane(
+            "d",
+            "e",
+            CircularLane(
+                center2,
+                radii2,
+                np.deg2rad(0),
+                np.deg2rad(-181),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.CONTINUOUS, LineType.NONE),
+                speed_limit=speedlimits[4],
+            ),
+        )
+        net.add_lane(
+            "d",
+            "e",
+            CircularLane(
+                center2,
+                radii2 + 5,
+                np.deg2rad(0),
+                np.deg2rad(-181),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.STRIPED, LineType.CONTINUOUS),
+                speed_limit=speedlimits[4],
+            ),
+        )
+
+        # 5 - Circular Arc #3
+        center3 = [70, -30]
+        radii3 = 15
+        net.add_lane(
+            "e",
+            "f",
+            CircularLane(
+                center3,
+                radii3 + 5,
+                np.deg2rad(0),
+                np.deg2rad(136),
+                width=5,
+                clockwise=True,
+                line_types=(LineType.CONTINUOUS, LineType.STRIPED),
+                speed_limit=speedlimits[5],
+            ),
+        )
+        net.add_lane(
+            "e",
+            "f",
+            CircularLane(
+                center3,
+                radii3,
+                np.deg2rad(0),
+                np.deg2rad(137),
+                width=5,
+                clockwise=True,
+                line_types=(LineType.NONE, LineType.CONTINUOUS),
+                speed_limit=speedlimits[5],
+            ),
+        )
+
+        # 6 - Slant
+        net.add_lane(
+            "f",
+            "g",
+            StraightLane(
+                [55.7, -15.7],
+                [35.7, -35.7],
+                line_types=(LineType.CONTINUOUS, LineType.NONE),
+                width=5,
+                speed_limit=speedlimits[6],
+            ),
+        )
+        net.add_lane(
+            "f",
+            "g",
+            StraightLane(
+                [59.3934, -19.2],
+                [39.3934, -39.2],
+                line_types=(LineType.STRIPED, LineType.CONTINUOUS),
+                width=5,
+                speed_limit=speedlimits[6],
+            ),
+        )
+
+        # 7 - Circular Arc #4 - Bugs out when arc is too large, hence written in 2 sections
+        center4 = [18.1, -18.1]
+        radii4 = 25
+        net.add_lane(
+            "g",
+            "h",
+            CircularLane(
+                center4,
+                radii4,
+                np.deg2rad(315),
+                np.deg2rad(170),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.CONTINUOUS, LineType.NONE),
+                speed_limit=speedlimits[7],
+            ),
+        )
+        net.add_lane(
+            "g",
+            "h",
+            CircularLane(
+                center4,
+                radii4 + 5,
+                np.deg2rad(315),
+                np.deg2rad(165),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.STRIPED, LineType.CONTINUOUS),
+                speed_limit=speedlimits[7],
+            ),
+        )
+        net.add_lane(
+            "h",
+            "i",
+            CircularLane(
+                center4,
+                radii4,
+                np.deg2rad(170),
+                np.deg2rad(56),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.CONTINUOUS, LineType.NONE),
+                speed_limit=speedlimits[7],
+            ),
+        )
+        net.add_lane(
+            "h",
+            "i",
+            CircularLane(
+                center4,
+                radii4 + 5,
+                np.deg2rad(170),
+                np.deg2rad(58),
+                width=5,
+                clockwise=False,
+                line_types=(LineType.STRIPED, LineType.CONTINUOUS),
+                speed_limit=speedlimits[7],
+            ),
+        )
+
+        # 8 - Circular Arc #5 - Reconnects to Start
+        center5 = [43.2, 23.4]
+        radii5 = 18.5
+        net.add_lane(
+            "i",
+            "a",
+            CircularLane(
+                center5,
+                radii5 + 5,
+                np.deg2rad(240),
+                np.deg2rad(270),
+                width=5,
+                clockwise=True,
+                line_types=(LineType.CONTINUOUS, LineType.STRIPED),
+                speed_limit=speedlimits[8],
+            ),
+        )
+        net.add_lane(
+            "i",
+            "a",
+            CircularLane(
+                center5,
+                radii5,
+                np.deg2rad(238),
+                np.deg2rad(268),
+                width=5,
+                clockwise=True,
+                line_types=(LineType.NONE, LineType.CONTINUOUS),
+                speed_limit=speedlimits[8],
+            ),
+        )
+
+        road = Road(
+            network=net,
+            np_random=self.np_random,
+            record_history=self.config["show_trajectories"],
+        )
+        self.road = road
+
+    def _make_vehicles(self) -> None:
+        """
+        Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
+        """
+        rng = self.np_random
+
+        # Controlled vehicles
+        self.controlled_vehicles = []
+        for i in range(self.config["controlled_vehicles"]):
+            lane_index = (
+                ("a", "b", rng.integers(2))
+                if i == 0
+                else self.road.network.random_lane_index(rng)
+            )
+            controlled_vehicle = self.action_type.vehicle_class.make_on_lane(
+                self.road, lane_index, speed=None, longitudinal=rng.uniform(20, 50)
+            )
+
+            self.controlled_vehicles.append(controlled_vehicle)
+            self.road.vehicles.append(controlled_vehicle)
+
+        if self.config["other_vehicles"] > 0:
+            # Front vehicle
+            vehicle = IDMVehicle.make_on_lane(
+                self.road,
+                ("b", "c", lane_index[-1]),
+                longitudinal=rng.uniform(
+                    low=0, high=self.road.network.get_lane(("b", "c", 0)).length
+                ),
+                speed=6 + rng.uniform(high=3),
+            )
+            self.road.vehicles.append(vehicle)
+
+            # Other vehicles
+            for i in range(rng.integers(self.config["other_vehicles"])):
+                random_lane_index = self.road.network.random_lane_index(rng)
+                vehicle = IDMVehicle.make_on_lane(
+                    self.road,
+                    random_lane_index,
+                    longitudinal=rng.uniform(
+                        low=0, high=self.road.network.get_lane(random_lane_index).length
+                    ),
+                    speed=6 + rng.uniform(high=3),
+                )
+                # Prevent early collisions
+                for v in self.road.vehicles:
+                    if np.linalg.norm(vehicle.position - v.position) < 20:
+                        break
+                else:
+                    self.road.vehicles.append(vehicle)

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/envs/roundabout_env/index.html b/v1.9/_modules/highway_env/envs/roundabout_env/index.html new file mode 100644 index 000000000..49ade235e --- /dev/null +++ b/v1.9/_modules/highway_env/envs/roundabout_env/index.html @@ -0,0 +1,972 @@ + + + + + + + + + + + + + + highway_env.envs.roundabout_env - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.envs.roundabout_env

+from typing import Dict, Text
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.envs.common.abstract import AbstractEnv
+from highway_env.road.lane import CircularLane, LineType, SineLane, StraightLane
+from highway_env.road.road import Road, RoadNetwork
+from highway_env.vehicle.controller import MDPVehicle
+
+
+

+[docs]
+class RoundaboutEnv(AbstractEnv):
+

+[docs]
+    @classmethod
+    def default_config(cls) -> dict:
+        config = super().default_config()
+        config.update(
+            {
+                "observation": {
+                    "type": "Kinematics",
+                    "absolute": True,
+                    "features_range": {
+                        "x": [-100, 100],
+                        "y": [-100, 100],
+                        "vx": [-15, 15],
+                        "vy": [-15, 15],
+                    },
+                },
+                "action": {"type": "DiscreteMetaAction", "target_speeds": [0, 8, 16]},
+                "incoming_vehicle_destination": None,
+                "collision_reward": -1,
+                "high_speed_reward": 0.2,
+                "right_lane_reward": 0,
+                "lane_change_reward": -0.05,
+                "screen_width": 600,
+                "screen_height": 600,
+                "centering_position": [0.5, 0.6],
+                "duration": 11,
+                "normalize_reward": True,
+            }
+        )
+        return config

+
+
+    def _reward(self, action: int) -> float:
+        rewards = self._rewards(action)
+        reward = sum(
+            self.config.get(name, 0) * reward for name, reward in rewards.items()
+        )
+        if self.config["normalize_reward"]:
+            reward = utils.lmap(
+                reward,
+                [self.config["collision_reward"], self.config["high_speed_reward"]],
+                [0, 1],
+            )
+        reward *= rewards["on_road_reward"]
+        return reward
+
+    def _rewards(self, action: int) -> Dict[Text, float]:
+        return {
+            "collision_reward": self.vehicle.crashed,
+            "high_speed_reward": MDPVehicle.get_speed_index(self.vehicle)
+            / (MDPVehicle.DEFAULT_TARGET_SPEEDS.size - 1),
+            "lane_change_reward": action in [0, 2],
+            "on_road_reward": self.vehicle.on_road,
+        }
+
+    def _is_terminated(self) -> bool:
+        return self.vehicle.crashed
+
+    def _is_truncated(self) -> bool:
+        return self.time >= self.config["duration"]
+
+    def _reset(self) -> None:
+        self._make_road()
+        self._make_vehicles()
+
+    def _make_road(self) -> None:
+        # Circle lanes: (s)outh/(e)ast/(n)orth/(w)est (e)ntry/e(x)it.
+        center = [0, 0]  # [m]
+        radius = 20  # [m]
+        alpha = 24  # [deg]
+
+        net = RoadNetwork()
+        radii = [radius, radius + 4]
+        n, c, s = LineType.NONE, LineType.CONTINUOUS, LineType.STRIPED
+        line = [[c, s], [n, c]]
+        for lane in [0, 1]:
+            net.add_lane(
+                "se",
+                "ex",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(90 - alpha),
+                    np.deg2rad(alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+            net.add_lane(
+                "ex",
+                "ee",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(alpha),
+                    np.deg2rad(-alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+            net.add_lane(
+                "ee",
+                "nx",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(-alpha),
+                    np.deg2rad(-90 + alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+            net.add_lane(
+                "nx",
+                "ne",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(-90 + alpha),
+                    np.deg2rad(-90 - alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+            net.add_lane(
+                "ne",
+                "wx",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(-90 - alpha),
+                    np.deg2rad(-180 + alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+            net.add_lane(
+                "wx",
+                "we",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(-180 + alpha),
+                    np.deg2rad(-180 - alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+            net.add_lane(
+                "we",
+                "sx",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(180 - alpha),
+                    np.deg2rad(90 + alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+            net.add_lane(
+                "sx",
+                "se",
+                CircularLane(
+                    center,
+                    radii[lane],
+                    np.deg2rad(90 + alpha),
+                    np.deg2rad(90 - alpha),
+                    clockwise=False,
+                    line_types=line[lane],
+                ),
+            )
+
+        # Access lanes: (r)oad/(s)ine
+        access = 170  # [m]
+        dev = 85  # [m]
+        a = 5  # [m]
+        delta_st = 0.2 * dev  # [m]
+
+        delta_en = dev - delta_st
+        w = 2 * np.pi / dev
+        net.add_lane(
+            "ser", "ses", StraightLane([2, access], [2, dev / 2], line_types=(s, c))
+        )
+        net.add_lane(
+            "ses",
+            "se",
+            SineLane(
+                [2 + a, dev / 2],
+                [2 + a, dev / 2 - delta_st],
+                a,
+                w,
+                -np.pi / 2,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "sx",
+            "sxs",
+            SineLane(
+                [-2 - a, -dev / 2 + delta_en],
+                [-2 - a, dev / 2],
+                a,
+                w,
+                -np.pi / 2 + w * delta_en,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "sxs", "sxr", StraightLane([-2, dev / 2], [-2, access], line_types=(n, c))
+        )
+
+        net.add_lane(
+            "eer", "ees", StraightLane([access, -2], [dev / 2, -2], line_types=(s, c))
+        )
+        net.add_lane(
+            "ees",
+            "ee",
+            SineLane(
+                [dev / 2, -2 - a],
+                [dev / 2 - delta_st, -2 - a],
+                a,
+                w,
+                -np.pi / 2,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "ex",
+            "exs",
+            SineLane(
+                [-dev / 2 + delta_en, 2 + a],
+                [dev / 2, 2 + a],
+                a,
+                w,
+                -np.pi / 2 + w * delta_en,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "exs", "exr", StraightLane([dev / 2, 2], [access, 2], line_types=(n, c))
+        )
+
+        net.add_lane(
+            "ner", "nes", StraightLane([-2, -access], [-2, -dev / 2], line_types=(s, c))
+        )
+        net.add_lane(
+            "nes",
+            "ne",
+            SineLane(
+                [-2 - a, -dev / 2],
+                [-2 - a, -dev / 2 + delta_st],
+                a,
+                w,
+                -np.pi / 2,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "nx",
+            "nxs",
+            SineLane(
+                [2 + a, dev / 2 - delta_en],
+                [2 + a, -dev / 2],
+                a,
+                w,
+                -np.pi / 2 + w * delta_en,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "nxs", "nxr", StraightLane([2, -dev / 2], [2, -access], line_types=(n, c))
+        )
+
+        net.add_lane(
+            "wer", "wes", StraightLane([-access, 2], [-dev / 2, 2], line_types=(s, c))
+        )
+        net.add_lane(
+            "wes",
+            "we",
+            SineLane(
+                [-dev / 2, 2 + a],
+                [-dev / 2 + delta_st, 2 + a],
+                a,
+                w,
+                -np.pi / 2,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "wx",
+            "wxs",
+            SineLane(
+                [dev / 2 - delta_en, -2 - a],
+                [-dev / 2, -2 - a],
+                a,
+                w,
+                -np.pi / 2 + w * delta_en,
+                line_types=(c, c),
+            ),
+        )
+        net.add_lane(
+            "wxs", "wxr", StraightLane([-dev / 2, -2], [-access, -2], line_types=(n, c))
+        )
+
+        road = Road(
+            network=net,
+            np_random=self.np_random,
+            record_history=self.config["show_trajectories"],
+        )
+        self.road = road
+
+    def _make_vehicles(self) -> None:
+        """
+        Populate a road with several vehicles on the highway and on the merging lane, as well as an ego-vehicle.
+
+        :return: the ego-vehicle
+        """
+        position_deviation = 2
+        speed_deviation = 2
+
+        # Ego-vehicle
+        ego_lane = self.road.network.get_lane(("ser", "ses", 0))
+        ego_vehicle = self.action_type.vehicle_class(
+            self.road,
+            ego_lane.position(125, 0),
+            speed=8,
+            heading=ego_lane.heading_at(140),
+        )
+        try:
+            ego_vehicle.plan_route_to("nxs")
+        except AttributeError:
+            pass
+        self.road.vehicles.append(ego_vehicle)
+        self.vehicle = ego_vehicle
+
+        # Incoming vehicle
+        destinations = ["exr", "sxr", "nxr"]
+        other_vehicles_type = utils.class_from_path(self.config["other_vehicles_type"])
+        vehicle = other_vehicles_type.make_on_lane(
+            self.road,
+            ("we", "sx", 1),
+            longitudinal=5 + self.np_random.normal() * position_deviation,
+            speed=16 + self.np_random.normal() * speed_deviation,
+        )
+
+        if self.config["incoming_vehicle_destination"] is not None:
+            destination = destinations[self.config["incoming_vehicle_destination"]]
+        else:
+            destination = self.np_random.choice(destinations)
+        vehicle.plan_route_to(destination)
+        vehicle.randomize_behavior()
+        self.road.vehicles.append(vehicle)
+
+        # Other vehicles
+        for i in list(range(1, 2)) + list(range(-1, 0)):
+            vehicle = other_vehicles_type.make_on_lane(
+                self.road,
+                ("we", "sx", 0),
+                longitudinal=20 * i + self.np_random.normal() * position_deviation,
+                speed=16 + self.np_random.normal() * speed_deviation,
+            )
+            vehicle.plan_route_to(self.np_random.choice(destinations))
+            vehicle.randomize_behavior()
+            self.road.vehicles.append(vehicle)
+
+        # Entering vehicle
+        vehicle = other_vehicles_type.make_on_lane(
+            self.road,
+            ("eer", "ees", 0),
+            longitudinal=50 + self.np_random.normal() * position_deviation,
+            speed=16 + self.np_random.normal() * speed_deviation,
+        )
+        vehicle.plan_route_to(self.np_random.choice(destinations))
+        vehicle.randomize_behavior()
+        self.road.vehicles.append(vehicle)

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/road/graphics/index.html b/v1.9/_modules/highway_env/road/graphics/index.html new file mode 100644 index 000000000..c8cafe886 --- /dev/null +++ b/v1.9/_modules/highway_env/road/graphics/index.html @@ -0,0 +1,1100 @@ + + + + + + + + + + + + + + highway_env.road.graphics - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.road.graphics

+from typing import TYPE_CHECKING, List, Tuple, Union
+
+import numpy as np
+import pygame
+
+from highway_env.road.lane import AbstractLane, LineType
+from highway_env.road.road import Road
+from highway_env.utils import Vector
+from highway_env.vehicle.graphics import VehicleGraphics
+from highway_env.vehicle.objects import Landmark, Obstacle
+
+if TYPE_CHECKING:
+    from highway_env.vehicle.objects import RoadObject
+
+PositionType = Union[Tuple[float, float], np.ndarray]
+
+
+

+[docs]
+class WorldSurface(pygame.Surface):
+
+    """A pygame Surface implementing a local coordinate system so that we can move and zoom in the displayed area."""
+
+    BLACK = (0, 0, 0)
+    GREY = (100, 100, 100)
+    GREEN = (50, 200, 0)
+    YELLOW = (200, 200, 0)
+    WHITE = (255, 255, 255)
+    INITIAL_SCALING = 5.5
+    INITIAL_CENTERING = [0.5, 0.5]
+    SCALING_FACTOR = 1.3
+    MOVING_FACTOR = 0.1
+
+    def __init__(
+        self, size: Tuple[int, int], flags: object, surf: pygame.SurfaceType
+    ) -> None:
+        super().__init__(size, flags, surf)
+        self.origin = np.array([0, 0])
+        self.scaling = self.INITIAL_SCALING
+        self.centering_position = self.INITIAL_CENTERING
+
+

+[docs]
+    def pix(self, length: float) -> int:
+        """
+        Convert a distance [m] to pixels [px].
+
+        :param length: the input distance [m]
+        :return: the corresponding size [px]
+        """
+        return int(length * self.scaling)

+
+
+

+[docs]
+    def pos2pix(self, x: float, y: float) -> Tuple[int, int]:
+        """
+        Convert two world coordinates [m] into a position in the surface [px]
+
+        :param x: x world coordinate [m]
+        :param y: y world coordinate [m]
+        :return: the coordinates of the corresponding pixel [px]
+        """
+        return self.pix(x - self.origin[0]), self.pix(y - self.origin[1])

+
+
+

+[docs]
+    def vec2pix(self, vec: PositionType) -> Tuple[int, int]:
+        """
+        Convert a world position [m] into a position in the surface [px].
+
+        :param vec: a world position [m]
+        :return: the coordinates of the corresponding pixel [px]
+        """
+        return self.pos2pix(vec[0], vec[1])

+
+
+

+[docs]
+    def is_visible(self, vec: PositionType, margin: int = 50) -> bool:
+        """
+        Is a position visible in the surface?
+        :param vec: a position
+        :param margin: margins around the frame to test for visibility
+        :return: whether the position is visible
+        """
+        x, y = self.vec2pix(vec)
+        return (
+            -margin < x < self.get_width() + margin
+            and -margin < y < self.get_height() + margin
+        )

+
+
+

+[docs]
+    def move_display_window_to(self, position: PositionType) -> None:
+        """
+        Set the origin of the displayed area to center on a given world position.
+
+        :param position: a world position [m]
+        """
+        self.origin = position - np.array(
+            [
+                self.centering_position[0] * self.get_width() / self.scaling,
+                self.centering_position[1] * self.get_height() / self.scaling,
+            ]
+        )

+
+
+

+[docs]
+    def handle_event(self, event: pygame.event.EventType) -> None:
+        """
+        Handle pygame events for moving and zooming in the displayed area.
+
+        :param event: a pygame event
+        """
+        if event.type == pygame.KEYDOWN:
+            if event.key == pygame.K_l:
+                self.scaling *= 1 / self.SCALING_FACTOR
+            if event.key == pygame.K_o:
+                self.scaling *= self.SCALING_FACTOR
+            if event.key == pygame.K_m:
+                self.centering_position[0] -= self.MOVING_FACTOR
+            if event.key == pygame.K_k:
+                self.centering_position[0] += self.MOVING_FACTOR

+

+
+
+
+

+[docs]
+class LaneGraphics(object):
+
+    """A visualization of a lane."""
+
+    # See https://www.researchgate.net/figure/French-road-traffic-lane-description-and-specification_fig4_261170641
+    STRIPE_SPACING: float = 4.33
+    """ Offset between stripes [m]"""
+
+    STRIPE_LENGTH: float = 3
+    """ Length of a stripe [m]"""
+
+    STRIPE_WIDTH: float = 0.3
+    """ Width of a stripe [m]"""
+
+

+[docs]
+    @classmethod
+    def display(cls, lane: AbstractLane, surface: WorldSurface) -> None:
+        """
+        Display a lane on a surface.
+
+        :param lane: the lane to be displayed
+        :param surface: the pygame surface
+        """
+        stripes_count = int(
+            2
+            * (surface.get_height() + surface.get_width())
+            / (cls.STRIPE_SPACING * surface.scaling)
+        )
+        s_origin, _ = lane.local_coordinates(surface.origin)
+        s0 = (
+            int(s_origin) // cls.STRIPE_SPACING - stripes_count // 2
+        ) * cls.STRIPE_SPACING
+        for side in range(2):
+            if lane.line_types[side] == LineType.STRIPED:
+                cls.striped_line(lane, surface, stripes_count, s0, side)
+            elif lane.line_types[side] == LineType.CONTINUOUS:
+                cls.continuous_curve(lane, surface, stripes_count, s0, side)
+            elif lane.line_types[side] == LineType.CONTINUOUS_LINE:
+                cls.continuous_line(lane, surface, stripes_count, s0, side)

+
+
+

+[docs]
+    @classmethod
+    def striped_line(
+        cls,
+        lane: AbstractLane,
+        surface: WorldSurface,
+        stripes_count: int,
+        longitudinal: float,
+        side: int,
+    ) -> None:
+        """
+        Draw a striped line on one side of a lane, on a surface.
+
+        :param lane: the lane
+        :param surface: the pygame surface
+        :param stripes_count: the number of stripes to draw
+        :param longitudinal: the longitudinal position of the first stripe [m]
+        :param side: which side of the road to draw [0:left, 1:right]
+        """
+        starts = longitudinal + np.arange(stripes_count) * cls.STRIPE_SPACING
+        ends = (
+            longitudinal
+            + np.arange(stripes_count) * cls.STRIPE_SPACING
+            + cls.STRIPE_LENGTH
+        )
+        lats = [(side - 0.5) * lane.width_at(s) for s in starts]
+        cls.draw_stripes(lane, surface, starts, ends, lats)

+
+
+

+[docs]
+    @classmethod
+    def continuous_curve(
+        cls,
+        lane: AbstractLane,
+        surface: WorldSurface,
+        stripes_count: int,
+        longitudinal: float,
+        side: int,
+    ) -> None:
+        """
+        Draw a striped line on one side of a lane, on a surface.
+
+        :param lane: the lane
+        :param surface: the pygame surface
+        :param stripes_count: the number of stripes to draw
+        :param longitudinal: the longitudinal position of the first stripe [m]
+        :param side: which side of the road to draw [0:left, 1:right]
+        """
+        starts = longitudinal + np.arange(stripes_count) * cls.STRIPE_SPACING
+        ends = (
+            longitudinal
+            + np.arange(stripes_count) * cls.STRIPE_SPACING
+            + cls.STRIPE_SPACING
+        )
+        lats = [(side - 0.5) * lane.width_at(s) for s in starts]
+        cls.draw_stripes(lane, surface, starts, ends, lats)

+
+
+

+[docs]
+    @classmethod
+    def continuous_line(
+        cls,
+        lane: AbstractLane,
+        surface: WorldSurface,
+        stripes_count: int,
+        longitudinal: float,
+        side: int,
+    ) -> None:
+        """
+        Draw a continuous line on one side of a lane, on a surface.
+
+        :param lane: the lane
+        :param surface: the pygame surface
+        :param stripes_count: the number of stripes that would be drawn if the line was striped
+        :param longitudinal: the longitudinal position of the start of the line [m]
+        :param side: which side of the road to draw [0:left, 1:right]
+        """
+        starts = [longitudinal + 0 * cls.STRIPE_SPACING]
+        ends = [longitudinal + stripes_count * cls.STRIPE_SPACING + cls.STRIPE_LENGTH]
+        lats = [(side - 0.5) * lane.width_at(s) for s in starts]
+        cls.draw_stripes(lane, surface, starts, ends, lats)

+
+
+

+[docs]
+    @classmethod
+    def draw_stripes(
+        cls,
+        lane: AbstractLane,
+        surface: WorldSurface,
+        starts: List[float],
+        ends: List[float],
+        lats: List[float],
+    ) -> None:
+        """
+        Draw a set of stripes along a lane.
+
+        :param lane: the lane
+        :param surface: the surface to draw on
+        :param starts: a list of starting longitudinal positions for each stripe [m]
+        :param ends: a list of ending longitudinal positions for each stripe [m]
+        :param lats: a list of lateral positions for each stripe [m]
+        """
+        starts = np.clip(starts, 0, lane.length)
+        ends = np.clip(ends, 0, lane.length)
+        for k, _ in enumerate(starts):
+            if abs(starts[k] - ends[k]) > 0.5 * cls.STRIPE_LENGTH:
+                pygame.draw.line(
+                    surface,
+                    surface.WHITE,
+                    (surface.vec2pix(lane.position(starts[k], lats[k]))),
+                    (surface.vec2pix(lane.position(ends[k], lats[k]))),
+                    max(surface.pix(cls.STRIPE_WIDTH), 1),
+                )

+
+
+    @classmethod
+    def draw_ground(
+        cls,
+        lane: AbstractLane,
+        surface: WorldSurface,
+        color: Tuple[float],
+        width: float,
+        draw_surface: pygame.Surface = None,
+    ) -> None:
+        draw_surface = draw_surface or surface
+        stripes_count = int(
+            2
+            * (surface.get_height() + surface.get_width())
+            / (cls.STRIPE_SPACING * surface.scaling)
+        )
+        s_origin, _ = lane.local_coordinates(surface.origin)
+        s0 = (
+            int(s_origin) // cls.STRIPE_SPACING - stripes_count // 2
+        ) * cls.STRIPE_SPACING
+        dots = []
+        for side in range(2):
+            longis = np.clip(
+                s0 + np.arange(stripes_count) * cls.STRIPE_SPACING, 0, lane.length
+            )
+            lats = [2 * (side - 0.5) * width for _ in longis]
+            new_dots = [
+                surface.vec2pix(lane.position(longi, lat))
+                for longi, lat in zip(longis, lats)
+            ]
+            new_dots = reversed(new_dots) if side else new_dots
+            dots.extend(new_dots)
+        pygame.draw.polygon(draw_surface, color, dots, 0)

+
+
+
+

+[docs]
+class RoadGraphics(object):
+
+    """A visualization of a road lanes and vehicles."""
+
+

+[docs]
+    @staticmethod
+    def display(road: Road, surface: WorldSurface) -> None:
+        """
+        Display the road lanes on a surface.
+
+        :param road: the road to be displayed
+        :param surface: the pygame surface
+        """
+        surface.fill(surface.GREY)
+        for _from in road.network.graph.keys():
+            for _to in road.network.graph[_from].keys():
+                for l in road.network.graph[_from][_to]:
+                    LaneGraphics.display(l, surface)

+
+
+

+[docs]
+    @staticmethod
+    def display_traffic(
+        road: Road,
+        surface: WorldSurface,
+        simulation_frequency: int = 15,
+        offscreen: bool = False,
+    ) -> None:
+        """
+        Display the road vehicles on a surface.
+
+        :param road: the road to be displayed
+        :param surface: the pygame surface
+        :param simulation_frequency: simulation frequency
+        :param offscreen: render without displaying on a screen
+        """
+        if road.record_history:
+            for v in road.vehicles:
+                VehicleGraphics.display_history(
+                    v, surface, simulation=simulation_frequency, offscreen=offscreen
+                )
+        for v in road.vehicles:
+            VehicleGraphics.display(v, surface, offscreen=offscreen)

+
+
+

+[docs]
+    @staticmethod
+    def display_road_objects(
+        road: Road, surface: WorldSurface, offscreen: bool = False
+    ) -> None:
+        """
+        Display the road objects on a surface.
+
+        :param road: the road to be displayed
+        :param surface: the pygame surface
+        :param offscreen: whether the rendering should be done offscreen or not
+        """
+        for o in road.objects:
+            RoadObjectGraphics.display(o, surface, offscreen=offscreen)

+

+
+
+
+

+[docs]
+class RoadObjectGraphics:
+
+    """A visualization of objects on the road."""
+
+    YELLOW = (200, 200, 0)
+    BLUE = (100, 200, 255)
+    RED = (255, 100, 100)
+    GREEN = (50, 200, 0)
+    BLACK = (60, 60, 60)
+    DEFAULT_COLOR = YELLOW
+
+

+[docs]
+    @classmethod
+    def display(
+        cls,
+        object_: "RoadObject",
+        surface: WorldSurface,
+        transparent: bool = False,
+        offscreen: bool = False,
+    ):
+        """
+        Display a road objects on a pygame surface.
+
+        The objects is represented as a colored rotated rectangle
+
+        :param object_: the vehicle to be drawn
+        :param surface: the surface to draw the object on
+        :param transparent: whether the object should be drawn slightly transparent
+        :param offscreen: whether the rendering should be done offscreen or not
+        """
+        o = object_
+        s = pygame.Surface(
+            (surface.pix(o.LENGTH), surface.pix(o.LENGTH)), pygame.SRCALPHA
+        )  # per-pixel alpha
+        rect = (
+            0,
+            surface.pix(o.LENGTH / 2 - o.WIDTH / 2),
+            surface.pix(o.LENGTH),
+            surface.pix(o.WIDTH),
+        )
+        pygame.draw.rect(s, cls.get_color(o, transparent), rect, 0)
+        pygame.draw.rect(s, cls.BLACK, rect, 1)
+        if (
+            not offscreen
+        ):  # convert_alpha throws errors in offscreen mode TODO() Explain why
+            s = pygame.Surface.convert_alpha(s)
+        h = o.heading if abs(o.heading) > 2 * np.pi / 180 else 0
+        # Centered rotation
+        position = surface.pos2pix(o.position[0], o.position[1])
+        cls.blit_rotate(surface, s, position, np.rad2deg(-h))

+
+
+

+[docs]
+    @staticmethod
+    def blit_rotate(
+        surf: pygame.SurfaceType,
+        image: pygame.SurfaceType,
+        pos: Vector,
+        angle: float,
+        origin_pos: Vector = None,
+        show_rect: bool = False,
+    ) -> None:
+        """Many thanks to https://stackoverflow.com/a/54714144."""
+        # calculate the axis aligned bounding box of the rotated image
+        w, h = image.get_size()
+        box = [pygame.math.Vector2(p) for p in [(0, 0), (w, 0), (w, -h), (0, -h)]]
+        box_rotate = [p.rotate(angle) for p in box]
+        min_box = (
+            min(box_rotate, key=lambda p: p[0])[0],
+            min(box_rotate, key=lambda p: p[1])[1],
+        )
+        max_box = (
+            max(box_rotate, key=lambda p: p[0])[0],
+            max(box_rotate, key=lambda p: p[1])[1],
+        )
+
+        # calculate the translation of the pivot
+        if origin_pos is None:
+            origin_pos = w / 2, h / 2
+        pivot = pygame.math.Vector2(origin_pos[0], -origin_pos[1])
+        pivot_rotate = pivot.rotate(angle)
+        pivot_move = pivot_rotate - pivot
+
+        # calculate the upper left origin of the rotated image
+        origin = (
+            pos[0] - origin_pos[0] + min_box[0] - pivot_move[0],
+            pos[1] - origin_pos[1] - max_box[1] + pivot_move[1],
+        )
+        # get a rotated image
+        rotated_image = pygame.transform.rotate(image, angle)
+        # rotate and blit the image
+        surf.blit(rotated_image, origin)
+        # draw rectangle around the image
+        if show_rect:
+            pygame.draw.rect(surf, (255, 0, 0), (*origin, *rotated_image.get_size()), 2)

+
+
+    @classmethod
+    def get_color(cls, object_: "RoadObject", transparent: bool = False):
+        color = cls.DEFAULT_COLOR
+
+        if isinstance(object_, Obstacle):
+            if object_.crashed:
+                # indicates failure
+                color = cls.RED
+            else:
+                color = cls.YELLOW
+        elif isinstance(object_, Landmark):
+            if object_.hit:
+                # indicates success
+                color = cls.GREEN
+            else:
+                color = cls.BLUE
+
+        if transparent:
+            color = (color[0], color[1], color[2], 30)
+
+        return color

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/road/lane/index.html b/v1.9/_modules/highway_env/road/lane/index.html new file mode 100644 index 000000000..296fe1976 --- /dev/null +++ b/v1.9/_modules/highway_env/road/lane/index.html @@ -0,0 +1,1252 @@ + + + + + + + + + + + + + + highway_env.road.lane - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.road.lane

+from abc import ABCMeta, abstractmethod
+from typing import List, Optional, Tuple, Union
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.road.spline import LinearSpline2D
+from highway_env.utils import Vector, class_from_path, get_class_path, wrap_to_pi
+
+
+

+[docs]
+class AbstractLane(object):
+
+    """A lane on the road, described by its central curve."""
+
+    metaclass__ = ABCMeta
+    DEFAULT_WIDTH: float = 4
+    VEHICLE_LENGTH: float = 5
+    length: float = 0
+    line_types: List["LineType"]
+
+

+[docs]
+    @abstractmethod
+    def position(self, longitudinal: float, lateral: float) -> np.ndarray:
+        """
+        Convert local lane coordinates to a world position.
+
+        :param longitudinal: longitudinal lane coordinate [m]
+        :param lateral: lateral lane coordinate [m]
+        :return: the corresponding world position [m]
+        """
+        raise NotImplementedError()

+
+
+

+[docs]
+    @abstractmethod
+    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+        """
+        Convert a world position to local lane coordinates.
+
+        :param position: a world position [m]
+        :return: the (longitudinal, lateral) lane coordinates [m]
+        """
+        raise NotImplementedError()

+
+
+

+[docs]
+    @abstractmethod
+    def heading_at(self, longitudinal: float) -> float:
+        """
+        Get the lane heading at a given longitudinal lane coordinate.
+
+        :param longitudinal: longitudinal lane coordinate [m]
+        :return: the lane heading [rad]
+        """
+        raise NotImplementedError()

+
+
+

+[docs]
+    @abstractmethod
+    def width_at(self, longitudinal: float) -> float:
+        """
+        Get the lane width at a given longitudinal lane coordinate.
+
+        :param longitudinal: longitudinal lane coordinate [m]
+        :return: the lane width [m]
+        """
+        raise NotImplementedError()

+
+
+

+[docs]
+    @classmethod
+    def from_config(cls, config: dict):
+        """
+        Create lane instance from config
+
+        :param config: json dict with lane parameters
+        """
+        raise NotImplementedError()

+
+
+

+[docs]
+    @abstractmethod
+    def to_config(self) -> dict:
+        """
+        Write lane parameters to dict which can be serialized to json
+
+        :return: dict of lane parameters
+        """
+        raise NotImplementedError()

+
+
+

+[docs]
+    def on_lane(
+        self,
+        position: np.ndarray,
+        longitudinal: float = None,
+        lateral: float = None,
+        margin: float = 0,
+    ) -> bool:
+        """
+        Whether a given world position is on the lane.
+
+        :param position: a world position [m]
+        :param longitudinal: (optional) the corresponding longitudinal lane coordinate, if known [m]
+        :param lateral: (optional) the corresponding lateral lane coordinate, if known [m]
+        :param margin: (optional) a supplementary margin around the lane width
+        :return: is the position on the lane?
+        """
+        if longitudinal is None or lateral is None:
+            longitudinal, lateral = self.local_coordinates(position)
+        is_on = (
+            np.abs(lateral) <= self.width_at(longitudinal) / 2 + margin
+            and -self.VEHICLE_LENGTH <= longitudinal < self.length + self.VEHICLE_LENGTH
+        )
+        return is_on

+
+
+

+[docs]
+    def is_reachable_from(self, position: np.ndarray) -> bool:
+        """
+        Whether the lane is reachable from a given world position
+
+        :param position: the world position [m]
+        :return: is the lane reachable?
+        """
+        if self.forbidden:
+            return False
+        longitudinal, lateral = self.local_coordinates(position)
+        is_close = (
+            np.abs(lateral) <= 2 * self.width_at(longitudinal)
+            and 0 <= longitudinal < self.length + self.VEHICLE_LENGTH
+        )
+        return is_close

+
+
+    def after_end(
+        self, position: np.ndarray, longitudinal: float = None, lateral: float = None
+    ) -> bool:
+        if not longitudinal:
+            longitudinal, _ = self.local_coordinates(position)
+        return longitudinal > self.length - self.VEHICLE_LENGTH / 2
+
+

+[docs]
+    def distance(self, position: np.ndarray):
+        """Compute the L1 distance [m] from a position to the lane."""
+        s, r = self.local_coordinates(position)
+        return abs(r) + max(s - self.length, 0) + max(0 - s, 0)

+
+
+

+[docs]
+    def distance_with_heading(
+        self,
+        position: np.ndarray,
+        heading: Optional[float],
+        heading_weight: float = 1.0,
+    ):
+        """Compute a weighted distance in position and heading to the lane."""
+        if heading is None:
+            return self.distance(position)
+        s, r = self.local_coordinates(position)
+        angle = np.abs(self.local_angle(heading, s))
+        return abs(r) + max(s - self.length, 0) + max(0 - s, 0) + heading_weight * angle

+
+
+

+[docs]
+    def local_angle(self, heading: float, long_offset: float):
+        """Compute non-normalised angle of heading to the lane."""
+        return wrap_to_pi(heading - self.heading_at(long_offset))

+

+
+
+
+

+[docs]
+class LineType:
+
+    """A lane side line type."""
+
+    NONE = 0
+    STRIPED = 1
+    CONTINUOUS = 2
+    CONTINUOUS_LINE = 3

+
+
+
+

+[docs]
+class StraightLane(AbstractLane):
+
+    """A lane going in straight line."""
+
+    def __init__(
+        self,
+        start: Vector,
+        end: Vector,
+        width: float = AbstractLane.DEFAULT_WIDTH,
+        line_types: Tuple[LineType, LineType] = None,
+        forbidden: bool = False,
+        speed_limit: float = 20,
+        priority: int = 0,
+    ) -> None:
+        """
+        New straight lane.
+
+        :param start: the lane starting position [m]
+        :param end: the lane ending position [m]
+        :param width: the lane width [m]
+        :param line_types: the type of lines on both sides of the lane
+        :param forbidden: is changing to this lane forbidden
+        :param priority: priority level of the lane, for determining who has right of way
+        """
+        self.start = np.array(start)
+        self.end = np.array(end)
+        self.width = width
+        self.heading = np.arctan2(
+            self.end[1] - self.start[1], self.end[0] - self.start[0]
+        )
+        self.length = np.linalg.norm(self.end - self.start)
+        self.line_types = line_types or [LineType.STRIPED, LineType.STRIPED]
+        self.direction = (self.end - self.start) / self.length
+        self.direction_lateral = np.array([-self.direction[1], self.direction[0]])
+        self.forbidden = forbidden
+        self.priority = priority
+        self.speed_limit = speed_limit
+
+

+[docs]
+    def position(self, longitudinal: float, lateral: float) -> np.ndarray:
+        return (
+            self.start
+            + longitudinal * self.direction
+            + lateral * self.direction_lateral
+        )

+
+
+

+[docs]
+    def heading_at(self, longitudinal: float) -> float:
+        return self.heading

+
+
+

+[docs]
+    def width_at(self, longitudinal: float) -> float:
+        return self.width

+
+
+

+[docs]
+    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+        delta = position - self.start
+        longitudinal = np.dot(delta, self.direction)
+        lateral = np.dot(delta, self.direction_lateral)
+        return float(longitudinal), float(lateral)

+
+
+

+[docs]
+    @classmethod
+    def from_config(cls, config: dict):
+        config["start"] = np.array(config["start"])
+        config["end"] = np.array(config["end"])
+        return cls(**config)

+
+
+

+[docs]
+    def to_config(self) -> dict:
+        return {
+            "class_path": get_class_path(self.__class__),
+            "config": {
+                "start": _to_serializable(self.start),
+                "end": _to_serializable(self.end),
+                "width": self.width,
+                "line_types": self.line_types,
+                "forbidden": self.forbidden,
+                "speed_limit": self.speed_limit,
+                "priority": self.priority,
+            },
+        }

+

+
+
+
+

+[docs]
+class SineLane(StraightLane):
+
+    """A sinusoidal lane."""
+
+    def __init__(
+        self,
+        start: Vector,
+        end: Vector,
+        amplitude: float,
+        pulsation: float,
+        phase: float,
+        width: float = StraightLane.DEFAULT_WIDTH,
+        line_types: List[LineType] = None,
+        forbidden: bool = False,
+        speed_limit: float = 20,
+        priority: int = 0,
+    ) -> None:
+        """
+        New sinusoidal lane.
+
+        :param start: the lane starting position [m]
+        :param end: the lane ending position [m]
+        :param amplitude: the lane oscillation amplitude [m]
+        :param pulsation: the lane pulsation [rad/m]
+        :param phase: the lane initial phase [rad]
+        """
+        super().__init__(
+            start, end, width, line_types, forbidden, speed_limit, priority
+        )
+        self.amplitude = amplitude
+        self.pulsation = pulsation
+        self.phase = phase
+
+

+[docs]
+    def position(self, longitudinal: float, lateral: float) -> np.ndarray:
+        return super().position(
+            longitudinal,
+            lateral
+            + self.amplitude * np.sin(self.pulsation * longitudinal + self.phase),
+        )

+
+
+

+[docs]
+    def heading_at(self, longitudinal: float) -> float:
+        return super().heading_at(longitudinal) + np.arctan(
+            self.amplitude
+            * self.pulsation
+            * np.cos(self.pulsation * longitudinal + self.phase)
+        )

+
+
+

+[docs]
+    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+        longitudinal, lateral = super().local_coordinates(position)
+        return longitudinal, lateral - self.amplitude * np.sin(
+            self.pulsation * longitudinal + self.phase
+        )

+
+
+

+[docs]
+    @classmethod
+    def from_config(cls, config: dict):
+        config["start"] = np.array(config["start"])
+        config["end"] = np.array(config["end"])
+        return cls(**config)

+
+
+

+[docs]
+    def to_config(self) -> dict:
+        config = super().to_config()
+        config.update(
+            {
+                "class_path": get_class_path(self.__class__),
+            }
+        )
+        config["config"].update(
+            {
+                "amplitude": self.amplitude,
+                "pulsation": self.pulsation,
+                "phase": self.phase,
+            }
+        )
+        return config

+

+
+
+
+

+[docs]
+class CircularLane(AbstractLane):
+
+    """A lane going in circle arc."""
+
+    def __init__(
+        self,
+        center: Vector,
+        radius: float,
+        start_phase: float,
+        end_phase: float,
+        clockwise: bool = True,
+        width: float = AbstractLane.DEFAULT_WIDTH,
+        line_types: List[LineType] = None,
+        forbidden: bool = False,
+        speed_limit: float = 20,
+        priority: int = 0,
+    ) -> None:
+        super().__init__()
+        self.center = np.array(center)
+        self.radius = radius
+        self.start_phase = start_phase
+        self.end_phase = end_phase
+        self.clockwise = clockwise
+        self.direction = 1 if clockwise else -1
+        self.width = width
+        self.line_types = line_types or [LineType.STRIPED, LineType.STRIPED]
+        self.forbidden = forbidden
+        self.length = radius * (end_phase - start_phase) * self.direction
+        self.priority = priority
+        self.speed_limit = speed_limit
+
+

+[docs]
+    def position(self, longitudinal: float, lateral: float) -> np.ndarray:
+        phi = self.direction * longitudinal / self.radius + self.start_phase
+        return self.center + (self.radius - lateral * self.direction) * np.array(
+            [np.cos(phi), np.sin(phi)]
+        )

+
+
+

+[docs]
+    def heading_at(self, longitudinal: float) -> float:
+        phi = self.direction * longitudinal / self.radius + self.start_phase
+        psi = phi + np.pi / 2 * self.direction
+        return psi

+
+
+

+[docs]
+    def width_at(self, longitudinal: float) -> float:
+        return self.width

+
+
+

+[docs]
+    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+        delta = position - self.center
+        phi = np.arctan2(delta[1], delta[0])
+        phi = self.start_phase + utils.wrap_to_pi(phi - self.start_phase)
+        r = np.linalg.norm(delta)
+        longitudinal = self.direction * (phi - self.start_phase) * self.radius
+        lateral = self.direction * (self.radius - r)
+        return longitudinal, lateral

+
+
+

+[docs]
+    @classmethod
+    def from_config(cls, config: dict):
+        config["center"] = np.array(config["center"])
+        return cls(**config)

+
+
+

+[docs]
+    def to_config(self) -> dict:
+        return {
+            "class_path": get_class_path(self.__class__),
+            "config": {
+                "center": _to_serializable(self.center),
+                "radius": self.radius,
+                "start_phase": self.start_phase,
+                "end_phase": self.end_phase,
+                "clockwise": self.clockwise,
+                "width": self.width,
+                "line_types": self.line_types,
+                "forbidden": self.forbidden,
+                "speed_limit": self.speed_limit,
+                "priority": self.priority,
+            },
+        }

+

+
+
+
+

+[docs]
+class PolyLaneFixedWidth(AbstractLane):
+    """
+    A fixed-width lane defined by a set of points and approximated with a 2D Hermite polynomial.
+    """
+
+    def __init__(
+        self,
+        lane_points: List[Tuple[float, float]],
+        width: float = AbstractLane.DEFAULT_WIDTH,
+        line_types: Tuple[LineType, LineType] = None,
+        forbidden: bool = False,
+        speed_limit: float = 20,
+        priority: int = 0,
+    ) -> None:
+        self.curve = LinearSpline2D(lane_points)
+        self.length = self.curve.length
+        self.width = width
+        self.line_types = line_types
+        self.forbidden = forbidden
+        self.speed_limit = speed_limit
+        self.priority = priority
+
+

+[docs]
+    def position(self, longitudinal: float, lateral: float) -> np.ndarray:
+        x, y = self.curve(longitudinal)
+        yaw = self.heading_at(longitudinal)
+        return np.array([x - np.sin(yaw) * lateral, y + np.cos(yaw) * lateral])

+
+
+

+[docs]
+    def local_coordinates(self, position: np.ndarray) -> Tuple[float, float]:
+        lon, lat = self.curve.cartesian_to_frenet(position)
+        return lon, lat

+
+
+

+[docs]
+    def heading_at(self, longitudinal: float) -> float:
+        dx, dy = self.curve.get_dx_dy(longitudinal)
+        return np.arctan2(dy, dx)

+
+
+

+[docs]
+    def width_at(self, longitudinal: float) -> float:
+        return self.width

+
+
+

+[docs]
+    @classmethod
+    def from_config(cls, config: dict):
+        return cls(**config)

+
+
+

+[docs]
+    def to_config(self) -> dict:
+        return {
+            "class_name": self.__class__.__name__,
+            "config": {
+                "lane_points": _to_serializable(
+                    [_to_serializable(p.position) for p in self.curve.poses]
+                ),
+                "width": self.width,
+                "line_types": self.line_types,
+                "forbidden": self.forbidden,
+                "speed_limit": self.speed_limit,
+                "priority": self.priority,
+            },
+        }

+

+
+
+
+

+[docs]
+class PolyLane(PolyLaneFixedWidth):
+    """
+    A lane defined by a set of points and approximated with a 2D Hermite polynomial.
+    """
+
+    def __init__(
+        self,
+        lane_points: List[Tuple[float, float]],
+        left_boundary_points: List[Tuple[float, float]],
+        right_boundary_points: List[Tuple[float, float]],
+        line_types: Tuple[LineType, LineType] = None,
+        forbidden: bool = False,
+        speed_limit: float = 20,
+        priority: int = 0,
+    ):
+        super().__init__(
+            lane_points=lane_points,
+            line_types=line_types,
+            forbidden=forbidden,
+            speed_limit=speed_limit,
+            priority=priority,
+        )
+        self.right_boundary = LinearSpline2D(right_boundary_points)
+        self.left_boundary = LinearSpline2D(left_boundary_points)
+        self._init_width()
+
+

+[docs]
+    def width_at(self, longitudinal: float) -> float:
+        if longitudinal < 0:
+            return self.width_samples[0]
+        elif longitudinal > len(self.width_samples) - 1:
+            return self.width_samples[-1]
+        else:
+            return self.width_samples[int(longitudinal)]

+
+
+    def _width_at_s(self, longitudinal: float) -> float:
+        """
+        Calculate width by taking the minimum distance between centerline and each boundary at a given s-value. This compensates indentations in boundary lines.
+        """
+        center_x, center_y = self.position(longitudinal, 0)
+        right_x, right_y = self.right_boundary(
+            self.right_boundary.cartesian_to_frenet([center_x, center_y])[0]
+        )
+        left_x, left_y = self.left_boundary(
+            self.left_boundary.cartesian_to_frenet([center_x, center_y])[0]
+        )
+
+        dist_to_center_right = np.linalg.norm(
+            np.array([right_x, right_y]) - np.array([center_x, center_y])
+        )
+        dist_to_center_left = np.linalg.norm(
+            np.array([left_x, left_y]) - np.array([center_x, center_y])
+        )
+
+        return max(
+            min(dist_to_center_right, dist_to_center_left) * 2,
+            AbstractLane.DEFAULT_WIDTH,
+        )
+
+    def _init_width(self):
+        """
+        Pre-calculate sampled width values in about 1m distance to reduce computation during runtime. It is assumed that the width does not change significantly within 1-2m.
+        Using numpys linspace ensures that min and max s-values are contained in the samples.
+        """
+        s_samples = np.linspace(
+            0,
+            self.curve.length,
+            num=int(np.ceil(self.curve.length)) + 1,
+        )
+        self.width_samples = [self._width_at_s(s) for s in s_samples]
+
+

+[docs]
+    def to_config(self) -> dict:
+        config = super().to_config()
+
+        ordered_boundary_points = _to_serializable(
+            [_to_serializable(p.position) for p in reversed(self.left_boundary.poses)]
+        )
+        ordered_boundary_points += _to_serializable(
+            [_to_serializable(p.position) for p in self.right_boundary.poses]
+        )
+
+        config["class_name"] = self.__class__.__name__
+        config["config"]["ordered_boundary_points"] = ordered_boundary_points
+        del config["config"]["width"]
+
+        return config

+

+
+
+
+def _to_serializable(arg: Union[np.ndarray, List]) -> List:
+    if isinstance(arg, np.ndarray):
+        return arg.tolist()
+    return arg
+
+
+def lane_from_config(cfg: dict) -> AbstractLane:
+    return class_from_path(cfg["class_path"])(**cfg["config"])
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/road/regulation/index.html b/v1.9/_modules/highway_env/road/regulation/index.html new file mode 100644 index 000000000..2f1ec9df4 --- /dev/null +++ b/v1.9/_modules/highway_env/road/regulation/index.html @@ -0,0 +1,695 @@ + + + + + + + + + + + + + + highway_env.road.regulation - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.road.regulation

+from typing import List, Tuple
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.road.road import Road, RoadNetwork
+from highway_env.vehicle.controller import ControlledVehicle, MDPVehicle
+from highway_env.vehicle.kinematics import Vehicle
+from highway_env.vehicle.objects import Obstacle
+
+
+

+[docs]
+class RegulatedRoad(Road):
+    YIELDING_COLOR: Tuple[float, float, float] = None
+    REGULATION_FREQUENCY: int = 2
+    YIELD_DURATION: float = 0.0
+
+    def __init__(
+        self,
+        network: RoadNetwork = None,
+        vehicles: List[Vehicle] = None,
+        obstacles: List[Obstacle] = None,
+        np_random: np.random.RandomState = None,
+        record_history: bool = False,
+    ) -> None:
+        super().__init__(network, vehicles, obstacles, np_random, record_history)
+        self.steps = 0
+
+

+[docs]
+    def step(self, dt: float) -> None:
+        self.steps += 1
+        if self.steps % int(1 / dt / self.REGULATION_FREQUENCY) == 0:
+            self.enforce_road_rules()
+        return super().step(dt)

+
+
+

+[docs]
+    def enforce_road_rules(self) -> None:
+        """Find conflicts and resolve them by assigning yielding vehicles and stopping them."""
+
+        # Unfreeze previous yielding vehicles
+        for v in self.vehicles:
+            if getattr(v, "is_yielding", False):
+                if v.yield_timer >= self.YIELD_DURATION * self.REGULATION_FREQUENCY:
+                    v.target_speed = v.lane.speed_limit
+                    delattr(v, "color")
+                    v.is_yielding = False
+                else:
+                    v.yield_timer += 1
+
+        # Find new conflicts and resolve them
+        for i in range(len(self.vehicles) - 1):
+            for j in range(i + 1, len(self.vehicles)):
+                if self.is_conflict_possible(self.vehicles[i], self.vehicles[j]):
+                    yielding_vehicle = self.respect_priorities(
+                        self.vehicles[i], self.vehicles[j]
+                    )
+                    if (
+                        yielding_vehicle is not None
+                        and isinstance(yielding_vehicle, ControlledVehicle)
+                        and not isinstance(yielding_vehicle, MDPVehicle)
+                    ):
+                        yielding_vehicle.color = self.YIELDING_COLOR
+                        yielding_vehicle.target_speed = 0
+                        yielding_vehicle.is_yielding = True
+                        yielding_vehicle.yield_timer = 0

+
+
+

+[docs]
+    @staticmethod
+    def respect_priorities(v1: Vehicle, v2: Vehicle) -> Vehicle:
+        """
+        Resolve a conflict between two vehicles by determining who should yield
+
+        :param v1: first vehicle
+        :param v2: second vehicle
+        :return: the yielding vehicle
+        """
+        if v1.lane.priority > v2.lane.priority:
+            return v2
+        elif v1.lane.priority < v2.lane.priority:
+            return v1
+        else:  # The vehicle behind should yield
+            return v1 if v1.front_distance_to(v2) > v2.front_distance_to(v1) else v2

+
+
+    @staticmethod
+    def is_conflict_possible(
+        v1: ControlledVehicle,
+        v2: ControlledVehicle,
+        horizon: int = 3,
+        step: float = 0.25,
+    ) -> bool:
+        times = np.arange(step, horizon, step)
+        positions_1, headings_1 = v1.predict_trajectory_constant_speed(times)
+        positions_2, headings_2 = v2.predict_trajectory_constant_speed(times)
+
+        for position_1, heading_1, position_2, heading_2 in zip(
+            positions_1, headings_1, positions_2, headings_2
+        ):
+            # Fast spherical pre-check
+            if np.linalg.norm(position_2 - position_1) > v1.LENGTH:
+                continue
+
+            # Accurate rectangular check
+            if utils.rotated_rectangles_intersect(
+                (position_1, 1.5 * v1.LENGTH, 0.9 * v1.WIDTH, heading_1),
+                (position_2, 1.5 * v2.LENGTH, 0.9 * v2.WIDTH, heading_2),
+            ):
+                return True

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/road/road/index.html b/v1.9/_modules/highway_env/road/road/index.html new file mode 100644 index 000000000..377ae81c8 --- /dev/null +++ b/v1.9/_modules/highway_env/road/road/index.html @@ -0,0 +1,1106 @@ + + + + + + + + + + + + + + highway_env.road.road - highway-env Documentation + + + + + + + + + + + +
+
+
+ +
+
+ + highway-env Documentation + +
+
+
+ + +
+
+
+
+ + + + + + + + Contents + + + + + + Menu + + + + + + + + Expand + + + + + + Light mode + + + + + + + + + + + + + + Dark mode + + + + + + + Auto light/dark mode + + + + + + + + + + + + + + + + + +
+ + +
+ + + + + +
+
+
+ + + + + Back to top + +
+ +
+ +
+
+ +

Source code for highway_env.road.road

+import logging
+from typing import TYPE_CHECKING, Dict, List, Optional, Tuple
+
+import numpy as np
+
+from highway_env.road.lane import AbstractLane, LineType, StraightLane, lane_from_config
+from highway_env.vehicle.objects import Landmark
+
+if TYPE_CHECKING:
+    from highway_env.vehicle import kinematics, objects
+
+logger = logging.getLogger(__name__)
+
+LaneIndex = Tuple[str, str, int]
+Route = List[LaneIndex]
+
+
+class RoadNetwork(object):
+    graph: Dict[str, Dict[str, List[AbstractLane]]]
+
+    def __init__(self):
+        self.graph = {}
+
+    def add_lane(self, _from: str, _to: str, lane: AbstractLane) -> None:
+        """
+        A lane is encoded as an edge in the road network.
+
+        :param _from: the node at which the lane starts.
+        :param _to: the node at which the lane ends.
+        :param AbstractLane lane: the lane geometry.
+        """
+        if _from not in self.graph:
+            self.graph[_from] = {}
+        if _to not in self.graph[_from]:
+            self.graph[_from][_to] = []
+        self.graph[_from][_to].append(lane)
+
+    def get_lane(self, index: LaneIndex) -> AbstractLane:
+        """
+        Get the lane geometry corresponding to a given index in the road network.
+
+        :param index: a tuple (origin node, destination node, lane id on the road).
+        :return: the corresponding lane geometry.
+        """
+        _from, _to, _id = index
+        if _id is None:
+            pass
+        if _id is None and len(self.graph[_from][_to]) == 1:
+            _id = 0
+        return self.graph[_from][_to][_id]
+
+    def get_closest_lane_index(
+        self, position: np.ndarray, heading: Optional[float] = None
+    ) -> LaneIndex:
+        """
+        Get the index of the lane closest to a world position.
+
+        :param position: a world position [m].
+        :param heading: a heading angle [rad].
+        :return: the index of the closest lane.
+        """
+        indexes, distances = [], []
+        for _from, to_dict in self.graph.items():
+            for _to, lanes in to_dict.items():
+                for _id, l in enumerate(lanes):
+                    distances.append(l.distance_with_heading(position, heading))
+                    indexes.append((_from, _to, _id))
+        return indexes[int(np.argmin(distances))]
+
+    def next_lane(
+        self,
+        current_index: LaneIndex,
+        route: Route = None,
+        position: np.ndarray = None,
+        np_random: np.random.RandomState = np.random,
+    ) -> LaneIndex:
+        """
+        Get the index of the next lane that should be followed after finishing the current lane.
+
+        - If a plan is available and matches with current lane, follow it.
+        - Else, pick next road randomly.
+        - If it has the same number of lanes as current road, stay in the same lane.
+        - Else, pick next road's closest lane.
+        :param current_index: the index of the current target lane.
+        :param route: the planned route, if any.
+        :param position: the vehicle position.
+        :param np_random: a source of randomness.
+        :return: the index of the next lane to be followed when current lane is finished.
+        """
+        _from, _to, _id = current_index
+        next_to = next_id = None
+        # Pick next road according to planned route
+        if route:
+            if (
+                route[0][:2] == current_index[:2]
+            ):  # We just finished the first step of the route, drop it.
+                route.pop(0)
+            if (
+                route and route[0][0] == _to
+            ):  # Next road in route is starting at the end of current road.
+                _, next_to, next_id = route[0]
+            elif route:
+                logger.warning(
+                    "Route {} does not start after current road {}.".format(
+                        route[0], current_index
+                    )
+                )
+
+        # Compute current projected (desired) position
+        long, lat = self.get_lane(current_index).local_coordinates(position)
+        projected_position = self.get_lane(current_index).position(long, lateral=0)
+        # If next route is not known
+        if not next_to:
+            # Pick the one with the closest lane to projected target position
+            try:
+                lanes_dists = [
+                    (
+                        next_to,
+                        *self.next_lane_given_next_road(
+                            _from, _to, _id, next_to, next_id, projected_position
+                        ),
+                    )
+                    for next_to in self.graph[_to].keys()
+                ]  # (next_to, next_id, distance)
+                next_to, next_id, _ = min(lanes_dists, key=lambda x: x[-1])
+            except KeyError:
+                return current_index
+        else:
+            # If it is known, follow it and get the closest lane
+            next_id, _ = self.next_lane_given_next_road(
+                _from, _to, _id, next_to, next_id, projected_position
+            )
+        return _to, next_to, next_id
+
+    def next_lane_given_next_road(
+        self,
+        _from: str,
+        _to: str,
+        _id: int,
+        next_to: str,
+        next_id: int,
+        position: np.ndarray,
+    ) -> Tuple[int, float]:
+        # If next road has same number of lane, stay on the same lane
+        if len(self.graph[_from][_to]) == len(self.graph[_to][next_to]):
+            if next_id is None:
+                next_id = _id
+        # Else, pick closest lane
+        else:
+            lanes = range(len(self.graph[_to][next_to]))
+            next_id = min(
+                lanes, key=lambda l: self.get_lane((_to, next_to, l)).distance(position)
+            )
+        return next_id, self.get_lane((_to, next_to, next_id)).distance(position)
+
+    def bfs_paths(self, start: str, goal: str) -> List[List[str]]:
+        """
+        Breadth-first search of all routes from start to goal.
+
+        :param start: starting node
+        :param goal: goal node
+        :return: list of paths from start to goal.
+        """
+        queue = [(start, [start])]
+        while queue:
+            (node, path) = queue.pop(0)
+            if node not in self.graph:
+                yield []
+            for _next in sorted(
+                [key for key in self.graph[node].keys() if key not in path]
+            ):
+                if _next == goal:
+                    yield path + [_next]
+                elif _next in self.graph:
+                    queue.append((_next, path + [_next]))
+
+    def shortest_path(self, start: str, goal: str) -> List[str]:
+        """
+        Breadth-first search of shortest path from start to goal.
+
+        :param start: starting node
+        :param goal: goal node
+        :return: shortest path from start to goal.
+        """
+        return next(self.bfs_paths(start, goal), [])
+
+    def all_side_lanes(self, lane_index: LaneIndex) -> List[LaneIndex]:
+        """
+        :param lane_index: the index of a lane.
+        :return: all lanes belonging to the same road.
+        """
+        return [
+            (lane_index[0], lane_index[1], i)
+            for i in range(len(self.graph[lane_index[0]][lane_index[1]]))
+        ]
+
+    def side_lanes(self, lane_index: LaneIndex) -> List[LaneIndex]:
+        """
+        :param lane_index: the index of a lane.
+        :return: indexes of lanes next to a an input lane, to its right or left.
+        """
+        _from, _to, _id = lane_index
+        lanes = []
+        if _id > 0:
+            lanes.append((_from, _to, _id - 1))
+        if _id < len(self.graph[_from][_to]) - 1:
+            lanes.append((_from, _to, _id + 1))
+        return lanes
+
+    @staticmethod
+    def is_same_road(
+        lane_index_1: LaneIndex, lane_index_2: LaneIndex, same_lane: bool = False
+    ) -> bool:
+        """Is lane 1 in the same road as lane 2?"""
+        return lane_index_1[:2] == lane_index_2[:2] and (
+            not same_lane or lane_index_1[2] == lane_index_2[2]
+        )
+
+    @staticmethod
+    def is_leading_to_road(
+        lane_index_1: LaneIndex, lane_index_2: LaneIndex, same_lane: bool = False
+    ) -> bool:
+        """Is lane 1 leading to of lane 2?"""
+        return lane_index_1[1] == lane_index_2[0] and (
+            not same_lane or lane_index_1[2] == lane_index_2[2]
+        )
+
+    def is_connected_road(
+        self,
+        lane_index_1: LaneIndex,
+        lane_index_2: LaneIndex,
+        route: Route = None,
+        same_lane: bool = False,
+        depth: int = 0,
+    ) -> bool:
+        """
+        Is the lane 2 leading to a road within lane 1's route?
+
+        Vehicles on these lanes must be considered for collisions.
+        :param lane_index_1: origin lane
+        :param lane_index_2: target lane
+        :param route: route from origin lane, if any
+        :param same_lane: compare lane id
+        :param depth: search depth from lane 1 along its route
+        :return: whether the roads are connected
+        """
+        if RoadNetwork.is_same_road(
+            lane_index_2, lane_index_1, same_lane
+        ) or RoadNetwork.is_leading_to_road(lane_index_2, lane_index_1, same_lane):
+            return True
+        if depth > 0:
+            if route and route[0][:2] == lane_index_1[:2]:
+                # Route is starting at current road, skip it
+                return self.is_connected_road(
+                    lane_index_1, lane_index_2, route[1:], same_lane, depth
+                )
+            elif route and route[0][0] == lane_index_1[1]:
+                # Route is continuing from current road, follow it
+                return self.is_connected_road(
+                    route[0], lane_index_2, route[1:], same_lane, depth - 1
+                )
+            else:
+                # Recursively search all roads at intersection
+                _from, _to, _id = lane_index_1
+                return any(
+                    [
+                        self.is_connected_road(
+                            (_to, l1_to, _id), lane_index_2, route, same_lane, depth - 1
+                        )
+                        for l1_to in self.graph.get(_to, {}).keys()
+                    ]
+                )
+        return False
+
+    def lanes_list(self) -> List[AbstractLane]:
+        return [
+            lane for to in self.graph.values() for ids in to.values() for lane in ids
+        ]
+
+    def lanes_dict(self) -> Dict[str, AbstractLane]:
+        return {
+            (from_, to_, i): lane
+            for from_, tos in self.graph.items()
+            for to_, ids in tos.items()
+            for i, lane in enumerate(ids)
+        }
+
+    @staticmethod
+    def straight_road_network(
+        lanes: int = 4,
+        start: float = 0,
+        length: float = 10000,
+        angle: float = 0,
+        speed_limit: float = 30,
+        nodes_str: Optional[Tuple[str, str]] = None,
+        net: Optional["RoadNetwork"] = None,
+    ) -> "RoadNetwork":
+        net = net or RoadNetwork()
+        nodes_str = nodes_str or ("0", "1")
+        for lane in range(lanes):
+            origin = np.array([start, lane * StraightLane.DEFAULT_WIDTH])
+            end = np.array([start + length, lane * StraightLane.DEFAULT_WIDTH])
+            rotation = np.array(
+                [[np.cos(angle), np.sin(angle)], [-np.sin(angle), np.cos(angle)]]
+            )
+            origin = rotation @ origin
+            end = rotation @ end
+            line_types = [
+                LineType.CONTINUOUS_LINE if lane == 0 else LineType.STRIPED,
+                LineType.CONTINUOUS_LINE if lane == lanes - 1 else LineType.NONE,
+            ]
+            net.add_lane(
+                *nodes_str,
+                StraightLane(
+                    origin, end, line_types=line_types, speed_limit=speed_limit
+                )
+            )
+        return net
+
+    def position_heading_along_route(
+        self,
+        route: Route,
+        longitudinal: float,
+        lateral: float,
+        current_lane_index: LaneIndex,
+    ) -> Tuple[np.ndarray, float]:
+        """
+        Get the absolute position and heading along a route composed of several lanes at some local coordinates.
+
+        :param route: a planned route, list of lane indexes
+        :param longitudinal: longitudinal position
+        :param lateral: : lateral position
+        :param current_lane_index: current lane index of the vehicle
+        :return: position, heading
+        """
+
+        def _get_route_head_with_id(route_):
+            lane_index_ = route_[0]
+            if lane_index_[2] is None:
+                # We know which road segment will be followed by the vehicle, but not which lane.
+                # Hypothesis: the vehicle will keep the same lane_id as the current one.
+                id_ = (
+                    current_lane_index[2]
+                    if current_lane_index[2]
+                    < len(self.graph[current_lane_index[0]][current_lane_index[1]])
+                    else 0
+                )
+                lane_index_ = (lane_index_[0], lane_index_[1], id_)
+            return lane_index_
+
+        lane_index = _get_route_head_with_id(route)
+        while len(route) > 1 and longitudinal > self.get_lane(lane_index).length:
+            longitudinal -= self.get_lane(lane_index).length
+            route = route[1:]
+            lane_index = _get_route_head_with_id(route)
+
+        return self.get_lane(lane_index).position(longitudinal, lateral), self.get_lane(
+            lane_index
+        ).heading_at(longitudinal)
+
+    def random_lane_index(self, np_random: np.random.RandomState) -> LaneIndex:
+        _from = np_random.choice(list(self.graph.keys()))
+        _to = np_random.choice(list(self.graph[_from].keys()))
+        _id = np_random.integers(len(self.graph[_from][_to]))
+        return _from, _to, _id
+
+    @classmethod
+    def from_config(cls, config: dict) -> None:
+        net = cls()
+        for _from, to_dict in config.items():
+            net.graph[_from] = {}
+            for _to, lanes_dict in to_dict.items():
+                net.graph[_from][_to] = []
+                for lane_dict in lanes_dict:
+                    net.graph[_from][_to].append(lane_from_config(lane_dict))
+        return net
+
+    def to_config(self) -> dict:
+        graph_dict = {}
+        for _from, to_dict in self.graph.items():
+            graph_dict[_from] = {}
+            for _to, lanes in to_dict.items():
+                graph_dict[_from][_to] = []
+                for lane in lanes:
+                    graph_dict[_from][_to].append(lane.to_config())
+        return graph_dict
+
+
+

+[docs]
+class Road(object):
+
+    """A road is a set of lanes, and a set of vehicles driving on these lanes."""
+
+    def __init__(
+        self,
+        network: RoadNetwork = None,
+        vehicles: List["kinematics.Vehicle"] = None,
+        road_objects: List["objects.RoadObject"] = None,
+        np_random: np.random.RandomState = None,
+        record_history: bool = False,
+    ) -> None:
+        """
+        New road.
+
+        :param network: the road network describing the lanes
+        :param vehicles: the vehicles driving on the road
+        :param road_objects: the objects on the road including obstacles and landmarks
+        :param np.random.RandomState np_random: a random number generator for vehicle behaviour
+        :param record_history: whether the recent trajectories of vehicles should be recorded for display
+        """
+        self.network = network
+        self.vehicles = vehicles or []
+        self.objects = road_objects or []
+        self.np_random = np_random if np_random else np.random.RandomState()
+        self.record_history = record_history
+
+    def close_objects_to(
+        self,
+        vehicle: "kinematics.Vehicle",
+        distance: float,
+        count: Optional[int] = None,
+        see_behind: bool = True,
+        sort: bool = True,
+        vehicles_only: bool = False,
+    ) -> object:
+        vehicles = [
+            v
+            for v in self.vehicles
+            if np.linalg.norm(v.position - vehicle.position) < distance
+            and v is not vehicle
+            and (see_behind or -2 * vehicle.LENGTH < vehicle.lane_distance_to(v))
+        ]
+        obstacles = [
+            o
+            for o in self.objects
+            if np.linalg.norm(o.position - vehicle.position) < distance
+            and -2 * vehicle.LENGTH < vehicle.lane_distance_to(o)
+        ]
+
+        objects_ = vehicles if vehicles_only else vehicles + obstacles
+
+        if sort:
+            objects_ = sorted(objects_, key=lambda o: abs(vehicle.lane_distance_to(o)))
+        if count:
+            objects_ = objects_[:count]
+        return objects_
+
+    def close_vehicles_to(
+        self,
+        vehicle: "kinematics.Vehicle",
+        distance: float,
+        count: Optional[int] = None,
+        see_behind: bool = True,
+        sort: bool = True,
+    ) -> object:
+        return self.close_objects_to(
+            vehicle, distance, count, see_behind, sort, vehicles_only=True
+        )
+
+

+[docs]
+    def act(self) -> None:
+        """Decide the actions of each entity on the road."""
+        for vehicle in self.vehicles:
+            vehicle.act()

+
+
+

+[docs]
+    def step(self, dt: float) -> None:
+        """
+        Step the dynamics of each entity on the road.
+
+        :param dt: timestep [s]
+        """
+        for vehicle in self.vehicles:
+            vehicle.step(dt)
+        for i, vehicle in enumerate(self.vehicles):
+            for other in self.vehicles[i + 1 :]:
+                vehicle.handle_collisions(other, dt)
+            for other in self.objects:
+                vehicle.handle_collisions(other, dt)

+
+
+

+[docs]
+    def neighbour_vehicles(
+        self, vehicle: "kinematics.Vehicle", lane_index: LaneIndex = None
+    ) -> Tuple[Optional["kinematics.Vehicle"], Optional["kinematics.Vehicle"]]:
+        """
+        Find the preceding and following vehicles of a given vehicle.
+
+        :param vehicle: the vehicle whose neighbours must be found
+        :param lane_index: the lane on which to look for preceding and following vehicles.
+                     It doesn't have to be the current vehicle lane but can also be another lane, in which case the
+                     vehicle is projected on it considering its local coordinates in the lane.
+        :return: its preceding vehicle, its following vehicle
+        """
+        lane_index = lane_index or vehicle.lane_index
+        if not lane_index:
+            return None, None
+        lane = self.network.get_lane(lane_index)
+        s = self.network.get_lane(lane_index).local_coordinates(vehicle.position)[0]
+        s_front = s_rear = None
+        v_front = v_rear = None
+        for v in self.vehicles + self.objects:
+            if v is not vehicle and not isinstance(
+                v, Landmark
+            ):  # self.network.is_connected_road(v.lane_index,
+                # lane_index, same_lane=True):
+                s_v, lat_v = lane.local_coordinates(v.position)
+                if not lane.on_lane(v.position, s_v, lat_v, margin=1):
+                    continue
+                if s <= s_v and (s_front is None or s_v <= s_front):
+                    s_front = s_v
+                    v_front = v
+                if s_v < s and (s_rear is None or s_v > s_rear):
+                    s_rear = s_v
+                    v_rear = v
+        return v_front, v_rear

+
+
+    def __repr__(self):
+        return self.vehicles.__repr__()

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/vehicle/behavior/index.html b/v1.9/_modules/highway_env/vehicle/behavior/index.html new file mode 100644 index 000000000..093b8f8cd --- /dev/null +++ b/v1.9/_modules/highway_env/vehicle/behavior/index.html @@ -0,0 +1,1215 @@ + + + + + + + + + + + + + + highway_env.vehicle.behavior - highway-env Documentation + + + + + + + + + + + +
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+ +
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+
+ +

Source code for highway_env.vehicle.behavior

+from typing import Union
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.road.road import LaneIndex, Road, Route
+from highway_env.utils import Vector
+from highway_env.vehicle.controller import ControlledVehicle
+from highway_env.vehicle.kinematics import Vehicle
+
+
+

+[docs]
+class IDMVehicle(ControlledVehicle):
+    """
+    A vehicle using both a longitudinal and a lateral decision policies.
+
+    - Longitudinal: the IDM model computes an acceleration given the preceding vehicle's distance and speed.
+    - Lateral: the MOBIL model decides when to change lane by maximizing the acceleration of nearby vehicles.
+    """
+
+    # Longitudinal policy parameters
+    ACC_MAX = 6.0  # [m/s2]
+    """Maximum acceleration."""
+
+    COMFORT_ACC_MAX = 3.0  # [m/s2]
+    """Desired maximum acceleration."""
+
+    COMFORT_ACC_MIN = -5.0  # [m/s2]
+    """Desired maximum deceleration."""
+
+    DISTANCE_WANTED = 5.0 + ControlledVehicle.LENGTH  # [m]
+    """Desired jam distance to the front vehicle."""
+
+    TIME_WANTED = 1.5  # [s]
+    """Desired time gap to the front vehicle."""
+
+    DELTA = 4.0  # []
+    """Exponent of the velocity term."""
+
+    DELTA_RANGE = [3.5, 4.5]
+    """Range of delta when chosen randomly."""
+
+    # Lateral policy parameters
+    POLITENESS = 0.0  # in [0, 1]
+    LANE_CHANGE_MIN_ACC_GAIN = 0.2  # [m/s2]
+    LANE_CHANGE_MAX_BRAKING_IMPOSED = 2.0  # [m/s2]
+    LANE_CHANGE_DELAY = 1.0  # [s]
+
+    def __init__(
+        self,
+        road: Road,
+        position: Vector,
+        heading: float = 0,
+        speed: float = 0,
+        target_lane_index: int = None,
+        target_speed: float = None,
+        route: Route = None,
+        enable_lane_change: bool = True,
+        timer: float = None,
+    ):
+        super().__init__(
+            road, position, heading, speed, target_lane_index, target_speed, route
+        )
+        self.enable_lane_change = enable_lane_change
+        self.timer = timer or (np.sum(self.position) * np.pi) % self.LANE_CHANGE_DELAY
+
+    def randomize_behavior(self):
+        self.DELTA = self.road.np_random.uniform(
+            low=self.DELTA_RANGE[0], high=self.DELTA_RANGE[1]
+        )
+
+

+[docs]
+    @classmethod
+    def create_from(cls, vehicle: ControlledVehicle) -> "IDMVehicle":
+        """
+        Create a new vehicle from an existing one.
+
+        The vehicle dynamics and target dynamics are copied, other properties are default.
+
+        :param vehicle: a vehicle
+        :return: a new vehicle at the same dynamical state
+        """
+        v = cls(
+            vehicle.road,
+            vehicle.position,
+            heading=vehicle.heading,
+            speed=vehicle.speed,
+            target_lane_index=vehicle.target_lane_index,
+            target_speed=vehicle.target_speed,
+            route=vehicle.route,
+            timer=getattr(vehicle, "timer", None),
+        )
+        return v

+
+
+

+[docs]
+    def act(self, action: Union[dict, str] = None):
+        """
+        Execute an action.
+
+        For now, no action is supported because the vehicle takes all decisions
+        of acceleration and lane changes on its own, based on the IDM and MOBIL models.
+
+        :param action: the action
+        """
+        if self.crashed:
+            return
+        action = {}
+        # Lateral: MOBIL
+        self.follow_road()
+        if self.enable_lane_change:
+            self.change_lane_policy()
+        action["steering"] = self.steering_control(self.target_lane_index)
+        action["steering"] = np.clip(
+            action["steering"], -self.MAX_STEERING_ANGLE, self.MAX_STEERING_ANGLE
+        )
+
+        # Longitudinal: IDM
+        front_vehicle, rear_vehicle = self.road.neighbour_vehicles(
+            self, self.lane_index
+        )
+        action["acceleration"] = self.acceleration(
+            ego_vehicle=self, front_vehicle=front_vehicle, rear_vehicle=rear_vehicle
+        )
+        # When changing lane, check both current and target lanes
+        if self.lane_index != self.target_lane_index:
+            front_vehicle, rear_vehicle = self.road.neighbour_vehicles(
+                self, self.target_lane_index
+            )
+            target_idm_acceleration = self.acceleration(
+                ego_vehicle=self, front_vehicle=front_vehicle, rear_vehicle=rear_vehicle
+            )
+            action["acceleration"] = min(
+                action["acceleration"], target_idm_acceleration
+            )
+        # action['acceleration'] = self.recover_from_stop(action['acceleration'])
+        action["acceleration"] = np.clip(
+            action["acceleration"], -self.ACC_MAX, self.ACC_MAX
+        )
+        Vehicle.act(
+            self, action
+        )  # Skip ControlledVehicle.act(), or the command will be overriden.

+
+
+

+[docs]
+    def step(self, dt: float):
+        """
+        Step the simulation.
+
+        Increases a timer used for decision policies, and step the vehicle dynamics.
+
+        :param dt: timestep
+        """
+        self.timer += dt
+        super().step(dt)

+
+
+

+[docs]
+    def acceleration(
+        self,
+        ego_vehicle: ControlledVehicle,
+        front_vehicle: Vehicle = None,
+        rear_vehicle: Vehicle = None,
+    ) -> float:
+        """
+        Compute an acceleration command with the Intelligent Driver Model.
+
+        The acceleration is chosen so as to:
+        - reach a target speed;
+        - maintain a minimum safety distance (and safety time) w.r.t the front vehicle.
+
+        :param ego_vehicle: the vehicle whose desired acceleration is to be computed. It does not have to be an
+                            IDM vehicle, which is why this method is a class method. This allows an IDM vehicle to
+                            reason about other vehicles behaviors even though they may not IDMs.
+        :param front_vehicle: the vehicle preceding the ego-vehicle
+        :param rear_vehicle: the vehicle following the ego-vehicle
+        :return: the acceleration command for the ego-vehicle [m/s2]
+        """
+        if not ego_vehicle or not isinstance(ego_vehicle, Vehicle):
+            return 0
+        ego_target_speed = getattr(ego_vehicle, "target_speed", 0)
+        if ego_vehicle.lane and ego_vehicle.lane.speed_limit is not None:
+            ego_target_speed = np.clip(
+                ego_target_speed, 0, ego_vehicle.lane.speed_limit
+            )
+        acceleration = self.COMFORT_ACC_MAX * (
+            1
+            - np.power(
+                max(ego_vehicle.speed, 0) / abs(utils.not_zero(ego_target_speed)),
+                self.DELTA,
+            )
+        )
+
+        if front_vehicle:
+            d = ego_vehicle.lane_distance_to(front_vehicle)
+            acceleration -= self.COMFORT_ACC_MAX * np.power(
+                self.desired_gap(ego_vehicle, front_vehicle) / utils.not_zero(d), 2
+            )
+        return acceleration

+
+
+

+[docs]
+    def desired_gap(
+        self,
+        ego_vehicle: Vehicle,
+        front_vehicle: Vehicle = None,
+        projected: bool = True,
+    ) -> float:
+        """
+        Compute the desired distance between a vehicle and its leading vehicle.
+
+        :param ego_vehicle: the vehicle being controlled
+        :param front_vehicle: its leading vehicle
+        :param projected: project 2D velocities in 1D space
+        :return: the desired distance between the two [m]
+        """
+        d0 = self.DISTANCE_WANTED
+        tau = self.TIME_WANTED
+        ab = -self.COMFORT_ACC_MAX * self.COMFORT_ACC_MIN
+        dv = (
+            np.dot(ego_vehicle.velocity - front_vehicle.velocity, ego_vehicle.direction)
+            if projected
+            else ego_vehicle.speed - front_vehicle.speed
+        )
+        d_star = (
+            d0 + ego_vehicle.speed * tau + ego_vehicle.speed * dv / (2 * np.sqrt(ab))
+        )
+        return d_star

+
+
+

+[docs]
+    def change_lane_policy(self) -> None:
+        """
+        Decide when to change lane.
+
+        Based on:
+        - frequency;
+        - closeness of the target lane;
+        - MOBIL model.
+        """
+        # If a lane change is already ongoing
+        if self.lane_index != self.target_lane_index:
+            # If we are on correct route but bad lane: abort it if someone else is already changing into the same lane
+            if self.lane_index[:2] == self.target_lane_index[:2]:
+                for v in self.road.vehicles:
+                    if (
+                        v is not self
+                        and v.lane_index != self.target_lane_index
+                        and isinstance(v, ControlledVehicle)
+                        and v.target_lane_index == self.target_lane_index
+                    ):
+                        d = self.lane_distance_to(v)
+                        d_star = self.desired_gap(self, v)
+                        if 0 < d < d_star:
+                            self.target_lane_index = self.lane_index
+                            break
+            return
+
+        # else, at a given frequency,
+        if not utils.do_every(self.LANE_CHANGE_DELAY, self.timer):
+            return
+        self.timer = 0
+
+        # decide to make a lane change
+        for lane_index in self.road.network.side_lanes(self.lane_index):
+            # Is the candidate lane close enough?
+            if not self.road.network.get_lane(lane_index).is_reachable_from(
+                self.position
+            ):
+                continue
+            # Only change lane when the vehicle is moving
+            if np.abs(self.speed) < 1:
+                continue
+            # Does the MOBIL model recommend a lane change?
+            if self.mobil(lane_index):
+                self.target_lane_index = lane_index

+
+
+

+[docs]
+    def mobil(self, lane_index: LaneIndex) -> bool:
+        """
+        MOBIL lane change model: Minimizing Overall Braking Induced by a Lane change
+
+            The vehicle should change lane only if:
+            - after changing it (and/or following vehicles) can accelerate more;
+            - it doesn't impose an unsafe braking on its new following vehicle.
+
+        :param lane_index: the candidate lane for the change
+        :return: whether the lane change should be performed
+        """
+        # Is the maneuver unsafe for the new following vehicle?
+        new_preceding, new_following = self.road.neighbour_vehicles(self, lane_index)
+        new_following_a = self.acceleration(
+            ego_vehicle=new_following, front_vehicle=new_preceding
+        )
+        new_following_pred_a = self.acceleration(
+            ego_vehicle=new_following, front_vehicle=self
+        )
+        if new_following_pred_a < -self.LANE_CHANGE_MAX_BRAKING_IMPOSED:
+            return False
+
+        # Do I have a planned route for a specific lane which is safe for me to access?
+        old_preceding, old_following = self.road.neighbour_vehicles(self)
+        self_pred_a = self.acceleration(ego_vehicle=self, front_vehicle=new_preceding)
+        if self.route and self.route[0][2] is not None:
+            # Wrong direction
+            if np.sign(lane_index[2] - self.target_lane_index[2]) != np.sign(
+                self.route[0][2] - self.target_lane_index[2]
+            ):
+                return False
+            # Unsafe braking required
+            elif self_pred_a < -self.LANE_CHANGE_MAX_BRAKING_IMPOSED:
+                return False
+
+        # Is there an acceleration advantage for me and/or my followers to change lane?
+        else:
+            self_a = self.acceleration(ego_vehicle=self, front_vehicle=old_preceding)
+            old_following_a = self.acceleration(
+                ego_vehicle=old_following, front_vehicle=self
+            )
+            old_following_pred_a = self.acceleration(
+                ego_vehicle=old_following, front_vehicle=old_preceding
+            )
+            jerk = (
+                self_pred_a
+                - self_a
+                + self.POLITENESS
+                * (
+                    new_following_pred_a
+                    - new_following_a
+                    + old_following_pred_a
+                    - old_following_a
+                )
+            )
+            if jerk < self.LANE_CHANGE_MIN_ACC_GAIN:
+                return False
+
+        # All clear, let's go!
+        return True

+
+
+

+[docs]
+    def recover_from_stop(self, acceleration: float) -> float:
+        """
+        If stopped on the wrong lane, try a reversing maneuver.
+
+        :param acceleration: desired acceleration from IDM
+        :return: suggested acceleration to recover from being stuck
+        """
+        stopped_speed = 5
+        safe_distance = 200
+        # Is the vehicle stopped on the wrong lane?
+        if self.target_lane_index != self.lane_index and self.speed < stopped_speed:
+            _, rear = self.road.neighbour_vehicles(self)
+            _, new_rear = self.road.neighbour_vehicles(
+                self, self.road.network.get_lane(self.target_lane_index)
+            )
+            # Check for free room behind on both lanes
+            if (not rear or rear.lane_distance_to(self) > safe_distance) and (
+                not new_rear or new_rear.lane_distance_to(self) > safe_distance
+            ):
+                # Reverse
+                return -self.COMFORT_ACC_MAX / 2
+        return acceleration

+

+
+
+
+

+[docs]
+class LinearVehicle(IDMVehicle):
+
+    """A Vehicle whose longitudinal and lateral controllers are linear with respect to parameters."""
+
+    ACCELERATION_PARAMETERS = [0.3, 0.3, 2.0]
+    STEERING_PARAMETERS = [
+        ControlledVehicle.KP_HEADING,
+        ControlledVehicle.KP_HEADING * ControlledVehicle.KP_LATERAL,
+    ]
+
+    ACCELERATION_RANGE = np.array(
+        [
+            0.5 * np.array(ACCELERATION_PARAMETERS),
+            1.5 * np.array(ACCELERATION_PARAMETERS),
+        ]
+    )
+    STEERING_RANGE = np.array(
+        [
+            np.array(STEERING_PARAMETERS) - np.array([0.07, 1.5]),
+            np.array(STEERING_PARAMETERS) + np.array([0.07, 1.5]),
+        ]
+    )
+
+    TIME_WANTED = 2.5
+
+    def __init__(
+        self,
+        road: Road,
+        position: Vector,
+        heading: float = 0,
+        speed: float = 0,
+        target_lane_index: int = None,
+        target_speed: float = None,
+        route: Route = None,
+        enable_lane_change: bool = True,
+        timer: float = None,
+        data: dict = None,
+    ):
+        super().__init__(
+            road,
+            position,
+            heading,
+            speed,
+            target_lane_index,
+            target_speed,
+            route,
+            enable_lane_change,
+            timer,
+        )
+        self.data = data if data is not None else {}
+        self.collecting_data = True
+
+

+[docs]
+    def act(self, action: Union[dict, str] = None):
+        if self.collecting_data:
+            self.collect_data()
+        super().act(action)

+
+
+    def randomize_behavior(self):
+        ua = self.road.np_random.uniform(size=np.shape(self.ACCELERATION_PARAMETERS))
+        self.ACCELERATION_PARAMETERS = self.ACCELERATION_RANGE[0] + ua * (
+            self.ACCELERATION_RANGE[1] - self.ACCELERATION_RANGE[0]
+        )
+        ub = self.road.np_random.uniform(size=np.shape(self.STEERING_PARAMETERS))
+        self.STEERING_PARAMETERS = self.STEERING_RANGE[0] + ub * (
+            self.STEERING_RANGE[1] - self.STEERING_RANGE[0]
+        )
+
+

+[docs]
+    def acceleration(
+        self,
+        ego_vehicle: ControlledVehicle,
+        front_vehicle: Vehicle = None,
+        rear_vehicle: Vehicle = None,
+    ) -> float:
+        """
+        Compute an acceleration command with a Linear Model.
+
+        The acceleration is chosen so as to:
+        - reach a target speed;
+        - reach the speed of the leading (resp following) vehicle, if it is lower (resp higher) than ego's;
+        - maintain a minimum safety distance w.r.t the leading vehicle.
+
+        :param ego_vehicle: the vehicle whose desired acceleration is to be computed. It does not have to be an
+                            Linear vehicle, which is why this method is a class method. This allows a Linear vehicle to
+                            reason about other vehicles behaviors even though they may not Linear.
+        :param front_vehicle: the vehicle preceding the ego-vehicle
+        :param rear_vehicle: the vehicle following the ego-vehicle
+        :return: the acceleration command for the ego-vehicle [m/s2]
+        """
+        return float(
+            np.dot(
+                self.ACCELERATION_PARAMETERS,
+                self.acceleration_features(ego_vehicle, front_vehicle, rear_vehicle),
+            )
+        )

+
+
+    def acceleration_features(
+        self,
+        ego_vehicle: ControlledVehicle,
+        front_vehicle: Vehicle = None,
+        rear_vehicle: Vehicle = None,
+    ) -> np.ndarray:
+        vt, dv, dp = 0, 0, 0
+        if ego_vehicle:
+            vt = (
+                getattr(ego_vehicle, "target_speed", ego_vehicle.speed)
+                - ego_vehicle.speed
+            )
+            d_safe = (
+                self.DISTANCE_WANTED
+                + np.maximum(ego_vehicle.speed, 0) * self.TIME_WANTED
+            )
+            if front_vehicle:
+                d = ego_vehicle.lane_distance_to(front_vehicle)
+                dv = min(front_vehicle.speed - ego_vehicle.speed, 0)
+                dp = min(d - d_safe, 0)
+        return np.array([vt, dv, dp])
+
+

+[docs]
+    def steering_control(self, target_lane_index: LaneIndex) -> float:
+        """
+        Linear controller with respect to parameters.
+
+        Overrides the non-linear controller ControlledVehicle.steering_control()
+
+        :param target_lane_index: index of the lane to follow
+        :return: a steering wheel angle command [rad]
+        """
+        return float(
+            np.dot(
+                np.array(self.STEERING_PARAMETERS),
+                self.steering_features(target_lane_index),
+            )
+        )

+
+
+

+[docs]
+    def steering_features(self, target_lane_index: LaneIndex) -> np.ndarray:
+        """
+        A collection of features used to follow a lane
+
+        :param target_lane_index: index of the lane to follow
+        :return: a array of features
+        """
+        lane = self.road.network.get_lane(target_lane_index)
+        lane_coords = lane.local_coordinates(self.position)
+        lane_next_coords = lane_coords[0] + self.speed * self.TAU_PURSUIT
+        lane_future_heading = lane.heading_at(lane_next_coords)
+        features = np.array(
+            [
+                utils.wrap_to_pi(lane_future_heading - self.heading)
+                * self.LENGTH
+                / utils.not_zero(self.speed),
+                -lane_coords[1] * self.LENGTH / (utils.not_zero(self.speed) ** 2),
+            ]
+        )
+        return features

+
+
+    def longitudinal_structure(self):
+        # Nominal dynamics: integrate speed
+        A = np.array([[0, 0, 1, 0], [0, 0, 0, 1], [0, 0, 0, 0], [0, 0, 0, 0]])
+        # Target speed dynamics
+        phi0 = np.array([[0, 0, 0, 0], [0, 0, 0, 0], [0, 0, -1, 0], [0, 0, 0, -1]])
+        # Front speed control
+        phi1 = np.array([[0, 0, 0, 0], [0, 0, 0, 0], [0, 0, -1, 1], [0, 0, 0, 0]])
+        # Front position control
+        phi2 = np.array(
+            [[0, 0, 0, 0], [0, 0, 0, 0], [-1, 1, -self.TIME_WANTED, 0], [0, 0, 0, 0]]
+        )
+        # Disable speed control
+        front_vehicle, _ = self.road.neighbour_vehicles(self)
+        if not front_vehicle or self.speed < front_vehicle.speed:
+            phi1 *= 0
+
+        # Disable front position control
+        if front_vehicle:
+            d = self.lane_distance_to(front_vehicle)
+            if d != self.DISTANCE_WANTED + self.TIME_WANTED * self.speed:
+                phi2 *= 0
+        else:
+            phi2 *= 0
+
+        phi = np.array([phi0, phi1, phi2])
+        return A, phi
+
+    def lateral_structure(self):
+        A = np.array([[0, 1], [0, 0]])
+        phi0 = np.array([[0, 0], [0, -1]])
+        phi1 = np.array([[0, 0], [-1, 0]])
+        phi = np.array([phi0, phi1])
+        return A, phi
+
+

+[docs]
+    def collect_data(self):
+        """Store features and outputs for parameter regression."""
+        self.add_features(self.data, self.target_lane_index)

+
+
+    def add_features(self, data, lane_index, output_lane=None):
+        front_vehicle, rear_vehicle = self.road.neighbour_vehicles(self)
+        features = self.acceleration_features(self, front_vehicle, rear_vehicle)
+        output = np.dot(self.ACCELERATION_PARAMETERS, features)
+        if "longitudinal" not in data:
+            data["longitudinal"] = {"features": [], "outputs": []}
+        data["longitudinal"]["features"].append(features)
+        data["longitudinal"]["outputs"].append(output)
+
+        if output_lane is None:
+            output_lane = lane_index
+        features = self.steering_features(lane_index)
+        out_features = self.steering_features(output_lane)
+        output = np.dot(self.STEERING_PARAMETERS, out_features)
+        if "lateral" not in data:
+            data["lateral"] = {"features": [], "outputs": []}
+        data["lateral"]["features"].append(features)
+        data["lateral"]["outputs"].append(output)

+
+
+
+

+[docs]
+class AggressiveVehicle(LinearVehicle):
+    LANE_CHANGE_MIN_ACC_GAIN = 1.0  # [m/s2]
+    MERGE_ACC_GAIN = 0.8
+    MERGE_VEL_RATIO = 0.75
+    MERGE_TARGET_VEL = 30
+    ACCELERATION_PARAMETERS = [
+        MERGE_ACC_GAIN / ((1 - MERGE_VEL_RATIO) * MERGE_TARGET_VEL),
+        MERGE_ACC_GAIN / (MERGE_VEL_RATIO * MERGE_TARGET_VEL),
+        0.5,
+    ]

+
+
+
+

+[docs]
+class DefensiveVehicle(LinearVehicle):
+    LANE_CHANGE_MIN_ACC_GAIN = 1.0  # [m/s2]
+    MERGE_ACC_GAIN = 1.2
+    MERGE_VEL_RATIO = 0.75
+    MERGE_TARGET_VEL = 30
+    ACCELERATION_PARAMETERS = [
+        MERGE_ACC_GAIN / ((1 - MERGE_VEL_RATIO) * MERGE_TARGET_VEL),
+        MERGE_ACC_GAIN / (MERGE_VEL_RATIO * MERGE_TARGET_VEL),
+        2.0,
+    ]

+
+
+
+
+
+ +
+ + +
+
+
+
+ Copyright © 2023 Farama Foundation +
+ +
+
+
+ +
+
+
+ +
+
+ +
+
+
+ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/v1.9/_modules/highway_env/vehicle/controller/index.html b/v1.9/_modules/highway_env/vehicle/controller/index.html new file mode 100644 index 000000000..594eb226c --- /dev/null +++ b/v1.9/_modules/highway_env/vehicle/controller/index.html @@ -0,0 +1,1029 @@ + + + + + + + + + + + + + + highway_env.vehicle.controller - highway-env Documentation + + + + + + + + + + + +
+
+
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+
+ + highway-env Documentation + +
+
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+ +
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+
+ +

Source code for highway_env.vehicle.controller

+import copy
+from typing import List, Optional, Tuple, Union
+
+import numpy as np
+
+from highway_env import utils
+from highway_env.road.road import LaneIndex, Road, Route
+from highway_env.utils import Vector
+from highway_env.vehicle.kinematics import Vehicle
+
+
+

+[docs]
+class ControlledVehicle(Vehicle):
+    """
+    A vehicle piloted by two low-level controller, allowing high-level actions such as cruise control and lane changes.
+
+    - The longitudinal controller is a speed controller;
+    - The lateral controller is a heading controller cascaded with a lateral position controller.
+    """
+
+    target_speed: float
+    """ Desired velocity."""
+
+    """Characteristic time"""
+    TAU_ACC = 0.6  # [s]
+    TAU_HEADING = 0.2  # [s]
+    TAU_LATERAL = 0.6  # [s]
+
+    TAU_PURSUIT = 0.5 * TAU_HEADING  # [s]
+    KP_A = 1 / TAU_ACC
+    KP_HEADING = 1 / TAU_HEADING
+    KP_LATERAL = 1 / TAU_LATERAL  # [1/s]
+    MAX_STEERING_ANGLE = np.pi / 3  # [rad]
+    DELTA_SPEED = 5  # [m/s]
+
+    def __init__(
+        self,
+        road: Road,
+        position: Vector,
+        heading: float = 0,
+        speed: float = 0,
+        target_lane_index: LaneIndex = None,
+        target_speed: float = None,
+        route: Route = None,
+    ):
+        super().__init__(road, position, heading, speed)
+        self.target_lane_index = target_lane_index or self.lane_index
+        self.target_speed = target_speed or self.speed
+        self.route = route
+
+

+[docs]
+    @classmethod
+    def create_from(cls, vehicle: "ControlledVehicle") -> "ControlledVehicle":
+        """
+        Create a new vehicle from an existing one.
+
+        The vehicle dynamics and target dynamics are copied, other properties are default.
+
+        :param vehicle: a vehicle
+        :return: a new vehicle at the same dynamical state
+        """
+        v = cls(
+            vehicle.road,
+            vehicle.position,
+            heading=vehicle.heading,
+            speed=vehicle.speed,
+            target_lane_index=vehicle.target_lane_index,
+            target_speed=vehicle.target_speed,
+            route=vehicle.route,
+        )
+        return v

+
+
+

+[docs]
+    def plan_route_to(self, destination: str) -> "ControlledVehicle":
+        """
+        Plan a route to a destination in the road network
+
+        :param destination: a node in the road network
+        """
+        try:
+            path = self.road.network.shortest_path(self.lane_index[1], destination)
+        except KeyError:
+            path = []
+        if path:
+            self.route = [self.lane_index] + [
+                (path[i], path[i + 1], None) for i in range(len(path) - 1)
+            ]
+        else:
+            self.route = [self.lane_index]
+        return self

+
+
+

+[docs]
+    def act(self, action: Union[dict, str] = None) -> None:
+        """
+        Perform a high-level action to change the desired lane or speed.
+
+        - If a high-level action is provided, update the target speed and lane;
+        - then, perform longitudinal and lateral control.
+
+        :param action: a high-level action
+        """
+        self.follow_road()
+        if action == "FASTER":
+            self.target_speed += self.DELTA_SPEED
+        elif action == "SLOWER":
+            self.target_speed -= self.DELTA_SPEED
+        elif action == "LANE_RIGHT":
+            _from, _to, _id = self.target_lane_index
+            target_lane_index = (
+                _from,
+                _to,
+                np.clip(_id + 1, 0, len(self.road.network.graph[_from][_to]) - 1),
+            )
+            if self.road.network.get_lane(target_lane_index).is_reachable_from(
+                self.position
+            ):
+                self.target_lane_index = target_lane_index
+        elif action == "LANE_LEFT":
+            _from, _to, _id = self.target_lane_index
+            target_lane_index = (
+                _from,
+                _to,
+                np.clip(_id - 1, 0, len(self.road.network.graph[_from][_to]) - 1),
+            )
+            if self.road.network.get_lane(target_lane_index).is_reachable_from(
+                self.position
+            ):
+                self.target_lane_index = target_lane_index
+
+        action = {
+            "steering": self.steering_control(self.target_lane_index),
+            "acceleration": self.speed_control(self.target_speed),
+        }
+        action["steering"] = np.clip(
+            action["steering"], -self.MAX_STEERING_ANGLE, self.MAX_STEERING_ANGLE
+        )
+        super().act(action)

+
+
+

+[docs]
+    def follow_road(self) -> None:
+        """At the end of a lane, automatically switch to a next one."""
+        if self.road.network.get_lane(self.target_lane_index).after_end(self.position):
+            self.target_lane_index = self.road.network.next_lane(
+                self.target_lane_index,
+                route=self.route,
+                position=self.position,
+                np_random=self.road.np_random,
+            )

+
+
+

+[docs]
+    def steering_control(self, target_lane_index: LaneIndex) -> float:
+        """
+        Steer the vehicle to follow the center of an given lane.
+
+        1. Lateral position is controlled by a proportional controller yielding a lateral speed command
+        2. Lateral speed command is converted to a heading reference
+        3. Heading is controlled by a proportional controller yielding a heading rate command
+        4. Heading rate command is converted to a steering angle
+
+        :param target_lane_index: index of the lane to follow
+        :return: a steering wheel angle command [rad]
+        """
+        target_lane = self.road.network.get_lane(target_lane_index)
+        lane_coords = target_lane.local_coordinates(self.position)
+        lane_next_coords = lane_coords[0] + self.speed * self.TAU_PURSUIT
+        lane_future_heading = target_lane.heading_at(lane_next_coords)
+
+        # Lateral position control
+        lateral_speed_command = -self.KP_LATERAL * lane_coords[1]
+        # Lateral speed to heading
+        heading_command = np.arcsin(
+            np.clip(lateral_speed_command / utils.not_zero(self.speed), -1, 1)
+        )
+        heading_ref = lane_future_heading + np.clip(
+            heading_command, -np.pi / 4, np.pi / 4
+        )
+        # Heading control
+        heading_rate_command = self.KP_HEADING * utils.wrap_to_pi(
+            heading_ref - self.heading
+        )
+        # Heading rate to steering angle
+        slip_angle = np.arcsin(
+            np.clip(
+                self.LENGTH / 2 / utils.not_zero(self.speed) * heading_rate_command,
+                -1,
+                1,
+            )
+        )
+        steering_angle = np.arctan(2 * np.tan(slip_angle))
+        steering_angle = np.clip(
+            steering_angle, -self.MAX_STEERING_ANGLE, self.MAX_STEERING_ANGLE
+        )
+        return float(steering_angle)

+
+
+

+[docs]
+    def speed_control(self, target_speed: float) -> float:
+        """
+        Control the speed of the vehicle.
+
+        Using a simple proportional controller.
+
+        :param target_speed: the desired speed
+        :return: an acceleration command [m/s2]
+        """
+        return self.KP_A * (target_speed - self.speed)

+
+
+

+[docs]
+    def get_routes_at_intersection(self) -> List[Route]:
+        """Get the list of routes that can be followed at the next intersection."""
+        if not self.route:
+            return []
+        for index in range(min(len(self.route), 3)):
+            try:
+                next_destinations = self.road.network.graph[self.route[index][1]]
+            except KeyError:
+                continue
+            if len(next_destinations) >= 2:
+                break
+        else:
+            return [self.route]
+        next_destinations_from = list(next_destinations.keys())
+        routes = [
+            self.route[0 : index + 1]
+            + [(self.route[index][1], destination, self.route[index][2])]
+            for destination in next_destinations_from
+        ]
+        return routes

+
+
+

+[docs]
+    def set_route_at_intersection(self, _to: int) -> None:
+        """
+        Set the road to be followed at the next intersection.
+
+        Erase current planned route.
+
+        :param _to: index of the road to follow at next intersection, in the road network
+        """
+
+        routes = self.get_routes_at_intersection()
+        if routes:
+            if _to == "random":
+                _to = self.road.np_random.integers(len(routes))
+            self.route = routes[_to % len(routes)]

+
+
+

+[docs]
+    def predict_trajectory_constant_speed(
+        self, times: np.ndarray
+    ) -> Tuple[List[np.ndarray], List[float]]:
+        """
+        Predict the future positions of the vehicle along its planned route, under constant speed
+
+        :param times: timesteps of prediction
+        :return: positions, headings
+        """
+        coordinates = self.lane.local_coordinates(self.position)
+        route = self.route or [self.lane_index]
+        pos_heads = [
+            self.road.network.position_heading_along_route(
+                route, coordinates[0] + self.speed * t, 0, self.lane_index
+            )
+            for t in times
+        ]
+        return tuple(zip(*pos_heads))

+

+
+
+
+

+[docs]
+class MDPVehicle(ControlledVehicle):
+
+    """A controlled vehicle with a specified discrete range of allowed target speeds."""
+
+    DEFAULT_TARGET_SPEEDS = np.linspace(20, 30, 3)
+
+    def __init__(
+        self,
+        road: Road,
+        position: List[float],
+        heading: float = 0,
+        speed: float = 0,
+        target_lane_index: Optional[LaneIndex] = None,
+        target_speed: Optional[float] = None,
+        target_speeds: Optional[Vector] = None,
+        route: Optional[Route] = None,
+    ) -> None:
+        """
+        Initializes an MDPVehicle
+
+        :param road: the road on which the vehicle is driving
+        :param position: its position
+        :param heading: its heading angle
+        :param speed: its speed
+        :param target_lane_index: the index of the lane it is following
+        :param target_speed: the speed it is tracking
+        :param target_speeds: the discrete list of speeds the vehicle is able to track, through faster/slower actions
+        :param route: the planned route of the vehicle, to handle intersections
+        """
+        super().__init__(
+            road, position, heading, speed, target_lane_index, target_speed, route
+        )
+        self.target_speeds = (
+            np.array(target_speeds)
+            if target_speeds is not None
+            else self.DEFAULT_TARGET_SPEEDS
+        )
+        self.speed_index = self.speed_to_index(self.target_speed)
+        self.target_speed = self.index_to_speed(self.speed_index)
+
+

+[docs]
+    def act(self, action: Union[dict, str] = None) -> None:
+        """
+        Perform a high-level action.
+
+        - If the action is a speed change, choose speed from the allowed discrete range.
+        - Else, forward action to the ControlledVehicle handler.
+
+        :param action: a high-level action
+        """
+        if action == "FASTER":
+            self.speed_index = self.speed_to_index(self.speed) + 1
+        elif action == "SLOWER":
+            self.speed_index = self.speed_to_index(self.speed) - 1
+        else:
+            super().act(action)
+            return
+        self.speed_index = int(
+            np.clip(self.speed_index, 0, self.target_speeds.size - 1)
+        )
+        self.target_speed = self.index_to_speed(self.speed_index)
+        super().act()

+
+
+

+[docs]
+    def index_to_speed(self, index: int) -> float:
+        """
+        Convert an index among allowed speeds to its corresponding speed
+
+        :param index: the speed index []
+        :return: the corresponding speed [m/s]
+        """
+        return self.target_speeds[index]

+
+
+

+[docs]
+    def speed_to_index(self, speed: float) -> int:
+        """
+        Find the index of the closest speed allowed to a given speed.
+
+        Assumes a uniform list of target speeds to avoid searching for the closest target speed
+
+        :param speed: an input speed [m/s]
+        :return: the index of the closest speed allowed []
+        """
+        x = (speed - self.target_speeds[0]) / (
+            self.target_speeds[-1] - self.target_speeds[0]
+        )
+        return np.int64(
+            np.clip(
+                np.round(x * (self.target_speeds.size - 1)),
+                0,
+                self.target_speeds.size - 1,
+            )
+        )

+
+
+

+[docs]
+    @classmethod
+    def speed_to_index_default(cls, speed: float) -> int:
+        """
+        Find the index of the closest speed allowed to a given speed.
+
+        Assumes a uniform list of target speeds to avoid searching for the closest target speed
+
+        :param speed: an input speed [m/s]
+        :return: the index of the closest speed allowed []
+        """
+        x = (speed - cls.DEFAULT_TARGET_SPEEDS[0]) / (
+            cls.DEFAULT_TARGET_SPEEDS[-1] - cls.DEFAULT_TARGET_SPEEDS[0]
+        )
+        return np.int64(
+            np.clip(
+                np.round(x * (cls.DEFAULT_TARGET_SPEEDS.size - 1)),
+                0,
+                cls.DEFAULT_TARGET_SPEEDS.size - 1,
+            )
+        )

+
+
+    @classmethod
+    def get_speed_index(cls, vehicle: Vehicle) -> int:
+        return getattr(
+            vehicle, "speed_index", cls.speed_to_index_default(vehicle.speed)
+        )
+
+

+[docs]
+    def predict_trajectory(
+        self,
+        actions: List,
+        action_duration: float,
+        trajectory_timestep: float,
+        dt: float,
+    ) -> List[ControlledVehicle]:
+        """
+        Predict the future trajectory of the vehicle given a sequence of actions.
+
+        :param actions: a sequence of future actions.
+        :param action_duration: the duration of each action.
+        :param trajectory_timestep: the duration between each save of the vehicle state.
+        :param dt: the timestep of the simulation
+        :return: the sequence of future states
+        """
+        states = []
+        v = copy.deepcopy(self)
+        t = 0
+        for action in actions:
+            v.act(action)  # High-level decision
+            for _ in range(int(action_duration / dt)):
+                t += 1
+                v.act()  # Low-level control action
+                v.step(dt)
+                if (t % int(trajectory_timestep / dt)) == 0:
+                    states.append(copy.deepcopy(v))
+        return states

+

+
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Source code for highway_env.vehicle.kinematics

+import copy
+from collections import deque
+from typing import List, Optional, Tuple, Union
+
+import numpy as np
+
+from highway_env.road.road import Road
+from highway_env.utils import Vector
+from highway_env.vehicle.objects import RoadObject
+
+
+

+[docs]
+class Vehicle(RoadObject):
+
+    """
+    A moving vehicle on a road, and its kinematics.
+
+    The vehicle is represented by a dynamical system: a modified bicycle model.
+    It's state is propagated depending on its steering and acceleration actions.
+    """
+
+    LENGTH = 5.0
+    """ Vehicle length [m] """
+    WIDTH = 2.0
+    """ Vehicle width [m] """
+    DEFAULT_INITIAL_SPEEDS = [23, 25]
+    """ Range for random initial speeds [m/s] """
+    MAX_SPEED = 40.0
+    """ Maximum reachable speed [m/s] """
+    MIN_SPEED = -40.0
+    """ Minimum reachable speed [m/s] """
+    HISTORY_SIZE = 30
+    """ Length of the vehicle state history, for trajectory display"""
+
+    def __init__(
+        self,
+        road: Road,
+        position: Vector,
+        heading: float = 0,
+        speed: float = 0,
+        predition_type: str = "constant_steering",
+    ):
+        super().__init__(road, position, heading, speed)
+        self.prediction_type = predition_type
+        self.action = {"steering": 0, "acceleration": 0}
+        self.crashed = False
+        self.impact = None
+        self.log = []
+        self.history = deque(maxlen=self.HISTORY_SIZE)
+
+

+[docs]
+    @classmethod
+    def create_random(
+        cls,
+        road: Road,
+        speed: float = None,
+        lane_from: Optional[str] = None,
+        lane_to: Optional[str] = None,
+        lane_id: Optional[int] = None,
+        spacing: float = 1,
+    ) -> "Vehicle":
+        """
+        Create a random vehicle on the road.
+
+        The lane and /or speed are chosen randomly, while longitudinal position is chosen behind the last
+        vehicle in the road with density based on the number of lanes.
+
+        :param road: the road where the vehicle is driving
+        :param speed: initial speed in [m/s]. If None, will be chosen randomly
+        :param lane_from: start node of the lane to spawn in
+        :param lane_to: end node of the lane to spawn in
+        :param lane_id: id of the lane to spawn in
+        :param spacing: ratio of spacing to the front vehicle, 1 being the default
+        :return: A vehicle with random position and/or speed
+        """
+        _from = lane_from or road.np_random.choice(list(road.network.graph.keys()))
+        _to = lane_to or road.np_random.choice(list(road.network.graph[_from].keys()))
+        _id = (
+            lane_id
+            if lane_id is not None
+            else road.np_random.choice(len(road.network.graph[_from][_to]))
+        )
+        lane = road.network.get_lane((_from, _to, _id))
+        if speed is None:
+            if lane.speed_limit is not None:
+                speed = road.np_random.uniform(
+                    0.7 * lane.speed_limit, 0.8 * lane.speed_limit
+                )
+            else:
+                speed = road.np_random.uniform(
+                    Vehicle.DEFAULT_INITIAL_SPEEDS[0], Vehicle.DEFAULT_INITIAL_SPEEDS[1]
+                )
+        default_spacing = 12 + 1.0 * speed
+        offset = (
+            spacing
+            * default_spacing
+            * np.exp(-5 / 40 * len(road.network.graph[_from][_to]))
+        )
+        x0 = (
+            np.max([lane.local_coordinates(v.position)[0] for v in road.vehicles])
+            if len(road.vehicles)
+            else 3 * offset
+        )
+        x0 += offset * road.np_random.uniform(0.9, 1.1)
+        v = cls(road, lane.position(x0, 0), lane.heading_at(x0), speed)
+        return v

+
+
+

+[docs]
+    @classmethod
+    def create_from(cls, vehicle: "Vehicle") -> "Vehicle":
+        """
+        Create a new vehicle from an existing one.
+
+        Only the vehicle dynamics are copied, other properties are default.
+
+        :param vehicle: a vehicle
+        :return: a new vehicle at the same dynamical state
+        """
+        v = cls(vehicle.road, vehicle.position, vehicle.heading, vehicle.speed)
+        if hasattr(vehicle, "color"):
+            v.color = vehicle.color
+        return v

+
+
+

+[docs]
+    def act(self, action: Union[dict, str] = None) -> None:
+        """
+        Store an action to be repeated.
+
+        :param action: the input action
+        """
+        if action:
+            self.action = action

+
+
+

+[docs]
+    def step(self, dt: float) -> None:
+        """
+        Propagate the vehicle state given its actions.
+
+        Integrate a modified bicycle model with a 1st-order response on the steering wheel dynamics.
+        If the vehicle is crashed, the actions are overridden with erratic steering and braking until complete stop.
+        The vehicle's current lane is updated.
+
+        :param dt: timestep of integration of the model [s]
+        """
+        self.clip_actions()
+        delta_f = self.action["steering"]
+        beta = np.arctan(1 / 2 * np.tan(delta_f))
+        v = self.speed * np.array(
+            [np.cos(self.heading + beta), np.sin(self.heading + beta)]
+        )
+        self.position += v * dt
+        if self.impact is not None:
+            self.position += self.impact
+            self.crashed = True
+            self.impact = None
+        self.heading += self.speed * np.sin(beta) / (self.LENGTH / 2) * dt
+        self.speed += self.action["acceleration"] * dt
+        self.on_state_update()

+
+
+    def clip_actions(self) -> None:
+        if self.crashed:
+            self.action["steering"] = 0
+            self.action["acceleration"] = -1.0 * self.speed
+        self.action["steering"] = float(self.action["steering"])
+        self.action["acceleration"] = float(self.action["acceleration"])
+        if self.speed > self.MAX_SPEED:
+            self.action["acceleration"] = min(
+                self.action["acceleration"], 1.0 * (self.MAX_SPEED - self.speed)
+            )
+        elif self.speed < self.MIN_SPEED:
+            self.action["acceleration"] = max(
+                self.action["acceleration"], 1.0 * (self.MIN_SPEED - self.speed)
+            )
+
+    def on_state_update(self) -> None:
+        if self.road:
+            self.lane_index = self.road.network.get_closest_lane_index(
+                self.position, self.heading
+            )
+            self.lane = self.road.network.get_lane(self.lane_index)
+            if self.road.record_history:
+                self.history.appendleft(self.create_from(self))
+
+    def predict_trajectory_constant_speed(
+        self, times: np.ndarray
+    ) -> Tuple[List[np.ndarray], List[float]]:
+        if self.prediction_type == "zero_steering":
+            action = {"acceleration": 0.0, "steering": 0.0}
+        elif self.prediction_type == "constant_steering":
+            action = {"acceleration": 0.0, "steering": self.action["steering"]}
+        else:
+            raise ValueError("Unknown predition type")
+
+        dt = np.diff(np.concatenate(([0.0], times)))
+
+        positions = []
+        headings = []
+        v = copy.deepcopy(self)
+        v.act(action)
+        for t in dt:
+            v.step(t)
+            positions.append(v.position.copy())
+            headings.append(v.heading)
+        return (positions, headings)
+
+    @property
+    def velocity(self) -> np.ndarray:
+        return self.speed * self.direction  # TODO: slip angle beta should be used here
+
+    @property
+    def destination(self) -> np.ndarray:
+        if getattr(self, "route", None):
+            last_lane_index = self.route[-1]
+            last_lane_index = (
+                last_lane_index
+                if last_lane_index[-1] is not None
+                else (*last_lane_index[:-1], 0)
+            )
+            last_lane = self.road.network.get_lane(last_lane_index)
+            return last_lane.position(last_lane.length, 0)
+        else:
+            return self.position
+
+    @property
+    def destination_direction(self) -> np.ndarray:
+        if (self.destination != self.position).any():
+            return (self.destination - self.position) / np.linalg.norm(
+                self.destination - self.position
+            )
+        else:
+            return np.zeros((2,))
+
+    @property
+    def lane_offset(self) -> np.ndarray:
+        if self.lane is not None:
+            long, lat = self.lane.local_coordinates(self.position)
+            ang = self.lane.local_angle(self.heading, long)
+            return np.array([long, lat, ang])
+        else:
+            return np.zeros((3,))
+
+    def to_dict(
+        self, origin_vehicle: "Vehicle" = None, observe_intentions: bool = True
+    ) -> dict:
+        d = {
+            "presence": 1,
+            "x": self.position[0],
+            "y": self.position[1],
+            "vx": self.velocity[0],
+            "vy": self.velocity[1],
+            "heading": self.heading,
+            "cos_h": self.direction[0],
+            "sin_h": self.direction[1],
+            "cos_d": self.destination_direction[0],
+            "sin_d": self.destination_direction[1],
+            "long_off": self.lane_offset[0],
+            "lat_off": self.lane_offset[1],
+            "ang_off": self.lane_offset[2],
+        }
+        if not observe_intentions:
+            d["cos_d"] = d["sin_d"] = 0
+        if origin_vehicle:
+            origin_dict = origin_vehicle.to_dict()
+            for key in ["x", "y", "vx", "vy"]:
+                d[key] -= origin_dict[key]
+        return d
+
+    def __str__(self):
+        return "{} #{}: {}".format(
+            self.__class__.__name__, id(self) % 1000, self.position
+        )
+
+    def __repr__(self):
+        return self.__str__()
+
+

+[docs]
+    def predict_trajectory(
+        self,
+        actions: List,
+        action_duration: float,
+        trajectory_timestep: float,
+        dt: float,
+    ) -> List["Vehicle"]:
+        """
+        Predict the future trajectory of the vehicle given a sequence of actions.
+
+        :param actions: a sequence of future actions.
+        :param action_duration: the duration of each action.
+        :param trajectory_timestep: the duration between each save of the vehicle state.
+        :param dt: the timestep of the simulation
+        :return: the sequence of future states
+        """
+        states = []
+        v = copy.deepcopy(self)
+        t = 0
+        for action in actions:
+            v.act(action)  # Low-level control action
+            for _ in range(int(action_duration / dt)):
+                t += 1
+                v.step(dt)
+                if (t % int(trajectory_timestep / dt)) == 0:
+                    states.append(copy.deepcopy(v))
+        return states

+

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+} + +h1:hover > a.headerlink, +h2:hover > a.headerlink, +h3:hover > a.headerlink, +h4:hover > a.headerlink, +h5:hover > a.headerlink, +h6:hover > a.headerlink, +dt:hover > a.headerlink, +caption:hover > a.headerlink, +p.caption:hover > a.headerlink, +div.code-block-caption:hover > a.headerlink { + visibility: visible; +} + +div.body p.caption { + text-align: inherit; +} + +div.body td { + text-align: left; +} + +.first { + margin-top: 0 !important; +} + +p.rubric { + margin-top: 30px; + font-weight: bold; +} + +img.align-left, figure.align-left, .figure.align-left, object.align-left { + clear: left; + float: left; + margin-right: 1em; +} + +img.align-right, figure.align-right, .figure.align-right, object.align-right { + clear: right; + float: right; + margin-left: 1em; +} + +img.align-center, figure.align-center, .figure.align-center, object.align-center { + display: block; + margin-left: auto; + margin-right: auto; +} + +img.align-default, figure.align-default, .figure.align-default { + display: block; + margin-left: auto; + margin-right: auto; +} + +.align-left { + text-align: left; +} + +.align-center { + text-align: center; +} + +.align-default { + text-align: center; +} + +.align-right { + text-align: right; +} + +/* -- sidebars -------------------------------------------------------------- */ + +div.sidebar, +aside.sidebar { + margin: 0 0 0.5em 1em; + border: 1px solid #ddb; + padding: 7px; + background-color: #ffe; + width: 40%; + float: right; + clear: right; + overflow-x: auto; +} + +p.sidebar-title { + font-weight: bold; +} + +nav.contents, +aside.topic, +div.admonition, div.topic, blockquote { + clear: left; +} + +/* -- topics ---------------------------------------------------------------- */ + +nav.contents, +aside.topic, +div.topic { + border: 1px solid #ccc; + padding: 7px; + margin: 10px 0 10px 0; +} + +p.topic-title { + font-size: 1.1em; + font-weight: bold; + margin-top: 10px; +} + +/* -- admonitions ----------------------------------------------------------- */ + +div.admonition { + margin-top: 10px; + margin-bottom: 10px; + padding: 7px; +} + +div.admonition dt { + font-weight: bold; +} + +p.admonition-title { + margin: 0px 10px 5px 0px; + font-weight: bold; +} + +div.body p.centered { + text-align: center; + margin-top: 25px; +} + +/* -- content of sidebars/topics/admonitions -------------------------------- */ + +div.sidebar > :last-child, +aside.sidebar > :last-child, +nav.contents > :last-child, +aside.topic > :last-child, +div.topic > :last-child, +div.admonition > :last-child { + margin-bottom: 0; +} + +div.sidebar::after, +aside.sidebar::after, +nav.contents::after, +aside.topic::after, +div.topic::after, +div.admonition::after, +blockquote::after { + display: block; + content: ''; + clear: both; +} + +/* -- tables ---------------------------------------------------------------- */ + +table.docutils { + margin-top: 10px; + margin-bottom: 10px; + border: 0; + border-collapse: collapse; +} + +table.align-center { + margin-left: auto; + margin-right: auto; +} + +table.align-default { + margin-left: auto; + margin-right: auto; +} + +table caption span.caption-number { + font-style: italic; +} + +table caption span.caption-text { +} + +table.docutils td, table.docutils th { + padding: 1px 8px 1px 5px; + border-top: 0; + border-left: 0; + border-right: 0; + border-bottom: 1px solid #aaa; +} + +th { + text-align: left; + padding-right: 5px; +} + +table.citation { + border-left: solid 1px gray; + margin-left: 1px; +} + +table.citation td { + border-bottom: none; +} + +th > :first-child, +td > :first-child { + margin-top: 0px; +} + +th > :last-child, +td > :last-child { + margin-bottom: 0px; +} + +/* -- figures --------------------------------------------------------------- */ + +div.figure, figure { + margin: 0.5em; + padding: 0.5em; +} + +div.figure p.caption, figcaption { + padding: 0.3em; +} + +div.figure p.caption span.caption-number, +figcaption span.caption-number { + font-style: italic; +} + +div.figure p.caption span.caption-text, +figcaption span.caption-text { +} + +/* -- field list styles ----------------------------------------------------- */ + +table.field-list td, table.field-list th { + border: 0 !important; +} + +.field-list ul { + margin: 0; + padding-left: 1em; +} + +.field-list p { + margin: 0; +} + +.field-name { + -moz-hyphens: manual; + -ms-hyphens: manual; + -webkit-hyphens: manual; + hyphens: manual; +} + +/* -- hlist styles ---------------------------------------------------------- */ + +table.hlist { + margin: 1em 0; +} + +table.hlist td { + vertical-align: top; +} + +/* -- object description styles --------------------------------------------- */ + +.sig { + font-family: 'Consolas', 'Menlo', 'DejaVu Sans Mono', 'Bitstream Vera Sans Mono', monospace; +} + +.sig-name, code.descname { + background-color: transparent; + font-weight: bold; +} + +.sig-name { + font-size: 1.1em; +} + +code.descname { + font-size: 1.2em; +} + +.sig-prename, code.descclassname { + background-color: transparent; +} + +.optional { + font-size: 1.3em; +} + +.sig-paren { + font-size: larger; +} + +.sig-param.n { + font-style: italic; +} + +/* C++ specific styling */ + +.sig-inline.c-texpr, +.sig-inline.cpp-texpr { + font-family: unset; +} + +.sig.c .k, .sig.c .kt, +.sig.cpp .k, .sig.cpp .kt { + color: #0033B3; +} + +.sig.c .m, +.sig.cpp .m { + color: #1750EB; +} + +.sig.c .s, .sig.c .sc, +.sig.cpp .s, .sig.cpp .sc { + color: #067D17; +} + + +/* -- other body styles ----------------------------------------------------- */ + +ol.arabic { + list-style: decimal; +} + +ol.loweralpha { + list-style: lower-alpha; +} + +ol.upperalpha { + list-style: upper-alpha; +} + +ol.lowerroman { + list-style: lower-roman; +} + +ol.upperroman { + list-style: upper-roman; +} + +:not(li) > ol > li:first-child > :first-child, +:not(li) > ul > li:first-child > :first-child { + margin-top: 0px; +} + +:not(li) > ol > li:last-child > :last-child, +:not(li) > ul > li:last-child > :last-child { + margin-bottom: 0px; +} + +ol.simple ol p, +ol.simple ul p, +ul.simple ol p, +ul.simple ul p { + margin-top: 0; +} + +ol.simple > li:not(:first-child) > p, +ul.simple > li:not(:first-child) > p { + margin-top: 0; +} + +ol.simple p, +ul.simple p { + margin-bottom: 0; +} + +aside.footnote > span, +div.citation > span { + float: left; +} +aside.footnote > span:last-of-type, +div.citation > span:last-of-type { + padding-right: 0.5em; +} +aside.footnote > p { + margin-left: 2em; +} +div.citation > p { + margin-left: 4em; +} +aside.footnote > p:last-of-type, +div.citation > p:last-of-type { + margin-bottom: 0em; +} +aside.footnote > p:last-of-type:after, +div.citation > p:last-of-type:after { + content: ""; + clear: both; +} + +dl.field-list { + display: grid; + grid-template-columns: fit-content(30%) auto; +} + +dl.field-list > dt { + font-weight: bold; + word-break: break-word; + padding-left: 0.5em; + padding-right: 5px; +} + +dl.field-list > dd { + padding-left: 0.5em; + margin-top: 0em; + margin-left: 0em; + margin-bottom: 0em; +} + +dl { + margin-bottom: 15px; +} + +dd > :first-child { + margin-top: 0px; +} + +dd ul, dd table { + margin-bottom: 10px; +} + +dd { + margin-top: 3px; + margin-bottom: 10px; + margin-left: 30px; +} + +.sig dd { + margin-top: 0px; + margin-bottom: 0px; +} + +.sig dl { + margin-top: 0px; + margin-bottom: 0px; +} + +dl > dd:last-child, +dl > dd:last-child > :last-child { + margin-bottom: 0; +} + +dt:target, span.highlighted { + background-color: #fbe54e; +} + +rect.highlighted { + fill: #fbe54e; +} + +dl.glossary dt { + font-weight: bold; + font-size: 1.1em; +} + +.versionmodified { + font-style: italic; +} + +.system-message { + background-color: #fda; + padding: 5px; + border: 3px solid red; +} + +.footnote:target { + background-color: #ffa; +} + +.line-block { + display: block; + margin-top: 1em; + margin-bottom: 1em; +} + +.line-block .line-block { + margin-top: 0; + margin-bottom: 0; + margin-left: 1.5em; +} + +.guilabel, .menuselection { + font-family: sans-serif; +} + +.accelerator { + text-decoration: underline; +} + +.classifier { + font-style: oblique; +} + +.classifier:before { + font-style: normal; + margin: 0 0.5em; + content: ":"; + display: inline-block; +} + +abbr, acronym { + border-bottom: dotted 1px; + cursor: help; +} + +.translated { + background-color: rgba(207, 255, 207, 0.2) +} + +.untranslated { + background-color: rgba(255, 207, 207, 0.2) +} + +/* -- code displays --------------------------------------------------------- */ + +pre { + overflow: auto; + overflow-y: hidden; /* fixes display issues on Chrome browsers */ +} + +pre, div[class*="highlight-"] { + clear: both; +} + +span.pre { + -moz-hyphens: none; + -ms-hyphens: none; + -webkit-hyphens: none; + hyphens: none; + white-space: nowrap; +} + +div[class*="highlight-"] { + margin: 1em 0; +} + +td.linenos pre { + border: 0; + background-color: transparent; + color: #aaa; +} + +table.highlighttable { + display: block; +} + +table.highlighttable tbody { + display: block; +} + +table.highlighttable tr { + display: flex; +} + +table.highlighttable td { + margin: 0; + padding: 0; +} + +table.highlighttable td.linenos { + padding-right: 0.5em; +} + +table.highlighttable td.code { + flex: 1; + overflow: hidden; +} + +.highlight .hll { + display: block; +} + +div.highlight pre, +table.highlighttable pre { + margin: 0; +} + +div.code-block-caption + div { + margin-top: 0; +} + +div.code-block-caption { + margin-top: 1em; + padding: 2px 5px; + font-size: small; +} + +div.code-block-caption code { + background-color: transparent; +} + +table.highlighttable td.linenos, +span.linenos, +div.highlight span.gp { /* gp: Generic.Prompt */ + user-select: none; + -webkit-user-select: text; /* Safari fallback only */ + -webkit-user-select: none; /* Chrome/Safari */ + -moz-user-select: none; /* Firefox */ + -ms-user-select: none; /* IE10+ */ +} + +div.code-block-caption span.caption-number { + padding: 0.1em 0.3em; + font-style: italic; +} + +div.code-block-caption span.caption-text { +} + +div.literal-block-wrapper { + margin: 1em 0; +} + +code.xref, a code { + background-color: transparent; + font-weight: bold; +} + +h1 code, h2 code, h3 code, h4 code, h5 code, h6 code { + background-color: transparent; +} + +.viewcode-link { + float: right; +} + +.viewcode-back { + float: right; + font-family: sans-serif; +} + +div.viewcode-block:target { + margin: -1px -10px; + padding: 0 10px; +} + +/* -- math display ---------------------------------------------------------- */ + +img.math { + vertical-align: middle; +} + +div.body div.math p { + text-align: center; +} + +span.eqno { + float: right; +} + +span.eqno a.headerlink { + position: absolute; + z-index: 1; +} + +div.math:hover a.headerlink { + visibility: visible; +} + +/* -- printout stylesheet --------------------------------------------------- */ + +@media print { + div.document, + div.documentwrapper, + div.bodywrapper { + margin: 0 !important; + width: 100%; + } + + div.sphinxsidebar, + div.related, + div.footer, + #top-link { + display: none; + } +} \ No newline at end of file diff --git a/v1.9/_static/debug.css b/v1.9/_static/debug.css new file mode 100644 index 000000000..74d4aec33 --- /dev/null +++ b/v1.9/_static/debug.css @@ -0,0 +1,69 @@ +/* + This CSS file should be overridden by the theme authors. It's + meant for debugging and developing the skeleton that this theme provides. +*/ +body { + font-family: -apple-system, "Segoe UI", Roboto, Helvetica, Arial, sans-serif, + "Apple Color Emoji", "Segoe UI Emoji"; + background: lavender; +} +.sb-announcement { + background: rgb(131, 131, 131); +} +.sb-announcement__inner { + background: black; + color: white; +} +.sb-header { + background: lightskyblue; +} +.sb-header__inner { + background: royalblue; + color: white; +} +.sb-header-secondary { + background: lightcyan; +} +.sb-header-secondary__inner { + background: cornflowerblue; + color: white; +} +.sb-sidebar-primary { + background: lightgreen; +} +.sb-main { + background: blanchedalmond; +} +.sb-main__inner { + background: antiquewhite; +} +.sb-header-article { + background: lightsteelblue; +} +.sb-article-container { + background: snow; +} +.sb-article-main { + background: white; +} +.sb-footer-article { + background: lightpink; +} +.sb-sidebar-secondary { + background: lightgoldenrodyellow; +} +.sb-footer-content { + background: plum; +} +.sb-footer-content__inner { + background: palevioletred; +} +.sb-footer { + background: pink; +} +.sb-footer__inner { + background: salmon; +} +.sb-article { + background: white; +} diff --git a/v1.9/_static/doctools.js b/v1.9/_static/doctools.js new file mode 100644 index 000000000..4d67807d1 --- /dev/null +++ b/v1.9/_static/doctools.js @@ -0,0 +1,156 @@ +/* + * doctools.js + * ~~~~~~~~~~~ + * + * Base JavaScript utilities for all Sphinx HTML documentation. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ +"use strict"; + +const BLACKLISTED_KEY_CONTROL_ELEMENTS = new Set([ + "TEXTAREA", + "INPUT", + "SELECT", + "BUTTON", +]); + +const _ready = (callback) => { + if (document.readyState !== "loading") { + callback(); + } else { + document.addEventListener("DOMContentLoaded", callback); + } +}; + +/** + * Small JavaScript module for the documentation. + */ +const Documentation = { + init: () => { + Documentation.initDomainIndexTable(); + Documentation.initOnKeyListeners(); + }, + + /** + * i18n support + */ + TRANSLATIONS: {}, + PLURAL_EXPR: (n) => (n === 1 ? 0 : 1), + LOCALE: "unknown", + + // gettext and ngettext don't access this so that the functions + // can safely bound to a different name (_ = Documentation.gettext) + gettext: (string) => { + const translated = Documentation.TRANSLATIONS[string]; + switch (typeof translated) { + case "undefined": + return string; // no translation + case "string": + return translated; // translation exists + default: + return translated[0]; // (singular, plural) translation tuple exists + } + }, + + ngettext: (singular, plural, n) => { + const translated = Documentation.TRANSLATIONS[singular]; + if (typeof translated !== "undefined") + return translated[Documentation.PLURAL_EXPR(n)]; + return n === 1 ? singular : plural; + }, + + addTranslations: (catalog) => { + Object.assign(Documentation.TRANSLATIONS, catalog.messages); + Documentation.PLURAL_EXPR = new Function( + "n", + `return (${catalog.plural_expr})` + ); + Documentation.LOCALE = catalog.locale; + }, + + /** + * helper function to focus on search bar + */ + focusSearchBar: () => { + document.querySelectorAll("input[name=q]")[0]?.focus(); + }, + + /** + * Initialise the domain index toggle buttons + */ + initDomainIndexTable: () => { + const toggler = (el) => { + const idNumber = el.id.substr(7); + const toggledRows = document.querySelectorAll(`tr.cg-${idNumber}`); + if (el.src.substr(-9) === "minus.png") { + el.src = `${el.src.substr(0, el.src.length - 9)}plus.png`; + toggledRows.forEach((el) => (el.style.display = "none")); + } else { + el.src = `${el.src.substr(0, el.src.length - 8)}minus.png`; + toggledRows.forEach((el) => (el.style.display = "")); + } + }; + + const togglerElements = document.querySelectorAll("img.toggler"); + togglerElements.forEach((el) => + el.addEventListener("click", (event) => toggler(event.currentTarget)) + ); + togglerElements.forEach((el) => (el.style.display = "")); + if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler); + }, + + initOnKeyListeners: () => { + // only install a listener if it is really needed + if ( + !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS && + !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS + ) + return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.altKey || event.ctrlKey || event.metaKey) return; + + if (!event.shiftKey) { + switch (event.key) { + case "ArrowLeft": + if (!DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS) break; + + const prevLink = document.querySelector('link[rel="prev"]'); + if (prevLink && prevLink.href) { + window.location.href = prevLink.href; + event.preventDefault(); + } + break; + case 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override the defaults of all packaged Sphinx themes +to display jupter-sphinx cells in a Jupyter-like style. + +If you want to adjust the styles, add additional custom CSS to override these +styles. + +After a build, this stylesheet is loaded from ./_static/jupyter-sphinx.css . + +*/ + + +div.jupyter_container { + padding: .4em; + margin: 0 0 .4em 0; + background-color: #FFFF; + border: 1px solid #CCC; + -moz-box-shadow: 2px 2px 4px rgba(87, 87, 87, 0.2); + -webkit-box-shadow: 2px 2px 4px rgba(87, 87, 87, 0.2); + box-shadow: 2px 2px 4px rgba(87, 87, 87, 0.2); +} +.jupyter_container div.code_cell { + border: 1px solid #cfcfcf; + border-radius: 2px; + background-color: #f7f7f7; + margin: 0 0; + overflow: auto; +} + +.jupyter_container div.code_cell pre { + padding: 4px; + margin: 0 0; + background-color: #f7f7f7; + border: none; + background: none; + box-shadow: none; + -webkit-box-shadow: none; /* for nature */ + -moz-box-shadow: none; /* for nature */ +} + +.jupyter_container 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border: none; + box-shadow: none; + -webkit-box-shadow: none; /* for nature */ + -moz-box-shadow: none; /* for nature */ +} +.jupyter_container .code_cell td.linenos { + text-align: right; + padding: 4px 4px 4px 8px; + border-right: 1px solid #cfcfcf; + color: #999; +} +.jupyter_container .output .highlight { + background-color: #ffffff; +} +/* combine sequential jupyter cells, + by moving sequential ones up higher on y-axis */ +div.jupyter_container + div.jupyter_container { + margin: -.5em 0 .4em 0; +} + +/* Fix for sphinx_rtd_theme spacing after jupyter_container #91 */ +.rst-content .jupyter_container { + margin: 0 0 24px 0; +} diff --git a/v1.9/_static/language_data.js b/v1.9/_static/language_data.js new file mode 100644 index 000000000..367b8ed81 --- /dev/null +++ b/v1.9/_static/language_data.js @@ -0,0 +1,199 @@ +/* + * language_data.js + * ~~~~~~~~~~~~~~~~ + * + * This script contains the language-specific data used by searchtools.js, + * namely the list of stopwords, stemmer, scorer and splitter. + * + * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS. + * :license: BSD, see LICENSE for details. + * + */ + +var stopwords = ["a", "and", "are", "as", "at", "be", "but", "by", "for", "if", "in", "into", "is", "it", "near", "no", "not", "of", "on", "or", "such", "that", "the", "their", "then", "there", "these", "they", "this", "to", "was", "will", "with"]; + + +/* Non-minified version is copied as a separate JS file, if available */ + +/** + * Porter Stemmer + */ +var Stemmer = function() { + + var step2list = { + ational: 'ate', + tional: 'tion', + enci: 'ence', + anci: 'ance', + izer: 'ize', + bli: 'ble', + alli: 'al', + entli: 'ent', + eli: 'e', + ousli: 'ous', + ization: 'ize', + ation: 'ate', + ator: 'ate', + alism: 'al', + iveness: 'ive', + fulness: 'ful', + ousness: 'ous', + aliti: 'al', + iviti: 'ive', + biliti: 'ble', + logi: 'log' + }; + + var step3list = { + icate: 'ic', + ative: '', + alize: 'al', + iciti: 'ic', + ical: 'ic', + ful: '', + ness: '' + }; + + var c = "[^aeiou]"; // consonant + var v = "[aeiouy]"; // vowel + var C = c + "[^aeiouy]*"; // consonant sequence + var V = v + "[aeiou]*"; // vowel sequence + + var mgr0 = "^(" + C + ")?" + V + C; // [C]VC... is m>0 + var meq1 = "^(" + C + ")?" + V + C + "(" + V + ")?$"; // [C]VC[V] is m=1 + var mgr1 = "^(" + C + ")?" + V + C + V + C; // [C]VCVC... is m>1 + var s_v = "^(" + C + ")?" + v; // vowel in stem + + this.stemWord = function (w) { + var stem; + var suffix; + var firstch; + var origword = w; + + if (w.length < 3) + return w; + + var re; + var re2; + var re3; + var re4; + + firstch = w.substr(0,1); + if (firstch == "y") + w = firstch.toUpperCase() + w.substr(1); + + // Step 1a + re = /^(.+?)(ss|i)es$/; + re2 = /^(.+?)([^s])s$/; + + if (re.test(w)) + w = w.replace(re,"$1$2"); + else if (re2.test(w)) + w = w.replace(re2,"$1$2"); + + // Step 1b + re = /^(.+?)eed$/; + re2 = /^(.+?)(ed|ing)$/; + if (re.test(w)) { + var fp = re.exec(w); + re = new RegExp(mgr0); + if (re.test(fp[1])) { + re = /.$/; + w = w.replace(re,""); + } + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1]; + re2 = new RegExp(s_v); + if (re2.test(stem)) { + w = stem; + re2 = /(at|bl|iz)$/; + re3 = new RegExp("([^aeiouylsz])\\1$"); + re4 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re2.test(w)) + w = w + "e"; + else if (re3.test(w)) { + re = /.$/; + w = w.replace(re,""); + } + else if (re4.test(w)) + w = w + "e"; + } + } + + // Step 1c + re = /^(.+?)y$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(s_v); + if (re.test(stem)) + w = stem + "i"; + } + + // Step 2 + re = /^(.+?)(ational|tional|enci|anci|izer|bli|alli|entli|eli|ousli|ization|ation|ator|alism|iveness|fulness|ousness|aliti|iviti|biliti|logi)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step2list[suffix]; + } + + // Step 3 + re = /^(.+?)(icate|ative|alize|iciti|ical|ful|ness)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + suffix = fp[2]; + re = new RegExp(mgr0); + if (re.test(stem)) + w = stem + step3list[suffix]; + } + + // Step 4 + re = /^(.+?)(al|ance|ence|er|ic|able|ible|ant|ement|ment|ent|ou|ism|ate|iti|ous|ive|ize)$/; + re2 = /^(.+?)(s|t)(ion)$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + if (re.test(stem)) + w = stem; + } + else if (re2.test(w)) { + var fp = re2.exec(w); + stem = fp[1] + fp[2]; + re2 = new RegExp(mgr1); + if (re2.test(stem)) + w = stem; + } + + // Step 5 + re = /^(.+?)e$/; + if (re.test(w)) { + var fp = re.exec(w); + stem = fp[1]; + re = new RegExp(mgr1); + re2 = new RegExp(meq1); + re3 = new RegExp("^" + C + v + "[^aeiouwxy]$"); + if (re.test(stem) || (re2.test(stem) && !(re3.test(stem)))) + w = stem; + } + re = /ll$/; + re2 = new RegExp(mgr1); + if (re.test(w) && re2.test(w)) { + re = /.$/; + w = w.replace(re,""); + } + + // 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detail,\n });\n\n // Dispatch the event\n elem.dispatchEvent(event);\n };\n\n /**\n * Get an element's distance from the top of the Document.\n * @param {Node} elem The element\n * @return {Number} Distance from the top in pixels\n */\n var getOffsetTop = function (elem) {\n var location = 0;\n if (elem.offsetParent) {\n while (elem) {\n location += elem.offsetTop;\n elem = elem.offsetParent;\n }\n }\n return location >= 0 ? location : 0;\n };\n\n /**\n * Sort content from first to last in the DOM\n * @param {Array} contents The content areas\n */\n var sortContents = function (contents) {\n if (contents) {\n contents.sort(function (item1, item2) {\n var offset1 = getOffsetTop(item1.content);\n var offset2 = getOffsetTop(item2.content);\n if (offset1 < offset2) return -1;\n return 1;\n });\n }\n };\n\n /**\n * Get the offset to use for calculating position\n * @param {Object} settings The settings for this instantiation\n * @return {Float} The number of pixels to offset the 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settings);\n };\n\n /**\n * Deactivate a nav and content area\n * @param {Object} items The nav item and content to deactivate\n * @param {Object} settings The settings for this instantiation\n */\n var deactivate = function (items, settings) {\n // Make sure there are items to deactivate\n if (!items) return;\n\n // Get the parent list item\n var li = items.nav.closest(\"li\");\n if (!li) return;\n\n // Remove the active class from the nav and content\n li.classList.remove(settings.navClass);\n items.content.classList.remove(settings.contentClass);\n\n // Deactivate any parent navs in a nested navigation\n deactivateNested(li, settings);\n\n // Emit a custom event\n emitEvent(\"gumshoeDeactivate\", li, {\n link: items.nav,\n content: items.content,\n settings: settings,\n });\n };\n\n /**\n * Activate parent navs in a nested navigation\n * @param {Node} nav The starting navigation element\n * @param {Object} settings The settings for this instantiation\n */\n var activateNested = function (nav, settings) {\n // If nesting isn't activated, bail\n if (!settings.nested) return;\n\n // Get the parent navigation\n var li = nav.parentNode.closest(\"li\");\n if (!li) return;\n\n // Add the active class\n li.classList.add(settings.nestedClass);\n\n // Apply recursively to any parent navigation elements\n activateNested(li, settings);\n };\n\n /**\n * Activate a nav and content area\n * @param {Object} items The nav item and content to activate\n * @param {Object} settings The settings for this instantiation\n */\n var activate = function (items, settings) {\n // Make sure there are items to activate\n if (!items) return;\n\n // Get the parent list item\n var li = items.nav.closest(\"li\");\n if (!li) return;\n\n // Add the active class to the nav and content\n li.classList.add(settings.navClass);\n items.content.classList.add(settings.contentClass);\n\n // Activate any parent navs in a nested navigation\n activateNested(li, settings);\n\n // Emit a custom event\n emitEvent(\"gumshoeActivate\", li, {\n link: items.nav,\n content: items.content,\n settings: settings,\n });\n };\n\n /**\n * Create the Constructor object\n * @param {String} selector The selector to use for navigation items\n * @param {Object} options User options and settings\n */\n var Constructor = function (selector, options) {\n //\n // Variables\n //\n\n var publicAPIs = {};\n var navItems, contents, current, timeout, settings;\n\n //\n // Methods\n //\n\n /**\n * Set variables from DOM elements\n */\n publicAPIs.setup = function () {\n // Get all nav items\n navItems = document.querySelectorAll(selector);\n\n // Create contents array\n contents = [];\n\n // Loop through each item, get it's matching content, and push to the array\n Array.prototype.forEach.call(navItems, function (item) {\n // Get the content for the nav item\n var content = document.getElementById(\n decodeURIComponent(item.hash.substr(1)),\n );\n if (!content) return;\n\n // Push to the contents array\n contents.push({\n nav: item,\n content: content,\n });\n });\n\n // Sort contents by the order they appear in the DOM\n sortContents(contents);\n };\n\n /**\n * Detect which content is currently active\n */\n publicAPIs.detect = function () {\n // Get the active content\n var active = getActive(contents, settings);\n\n // if there's no active content, deactivate and bail\n if (!active) {\n if (current) {\n deactivate(current, settings);\n current = null;\n }\n return;\n }\n\n // If the active content is the one currently active, do nothing\n if (current && active.content === current.content) return;\n\n // Deactivate the current content and activate the new content\n deactivate(current, settings);\n activate(active, settings);\n\n // Update the currently active content\n current = active;\n };\n\n /**\n * Detect the active content on scroll\n * Debounced for performance\n */\n var scrollHandler = function (event) {\n // If there's a timer, cancel it\n if (timeout) {\n window.cancelAnimationFrame(timeout);\n }\n\n // Setup debounce callback\n timeout = window.requestAnimationFrame(publicAPIs.detect);\n };\n\n /**\n * Update content sorting on resize\n * Debounced for performance\n */\n var resizeHandler = function (event) {\n // If there's a timer, cancel it\n if (timeout) {\n window.cancelAnimationFrame(timeout);\n }\n\n // Setup debounce callback\n timeout = window.requestAnimationFrame(function () {\n sortContents(contents);\n publicAPIs.detect();\n });\n };\n\n /**\n * Destroy the current instantiation\n */\n publicAPIs.destroy = function () {\n // Undo DOM changes\n if (current) {\n deactivate(current, settings);\n }\n\n // Remove event listeners\n window.removeEventListener(\"scroll\", scrollHandler, false);\n if (settings.reflow) {\n window.removeEventListener(\"resize\", resizeHandler, false);\n }\n\n // Reset variables\n contents = null;\n navItems = null;\n current = null;\n timeout = null;\n settings = null;\n };\n\n /**\n * Initialize the 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+ +/** + * Simple result scoring code. + */ +if (typeof Scorer === "undefined") { + var Scorer = { + // Implement the following function to further tweak the score for each result + // The function takes a result array [docname, title, anchor, descr, score, filename] + // and returns the new score. + /* + score: result => { + const [docname, title, anchor, descr, score, filename] = result + return score + }, + */ + + // query matches the full name of an object + objNameMatch: 11, + // or matches in the last dotted part of the object name + objPartialMatch: 6, + // Additive scores depending on the priority of the object + objPrio: { + 0: 15, // used to be importantResults + 1: 5, // used to be objectResults + 2: -5, // used to be unimportantResults + }, + // Used when the priority is not in the mapping. + objPrioDefault: 0, + + // query found in title + title: 15, + partialTitle: 7, + // query found in terms + term: 5, + partialTerm: 2, + }; +} + +const _removeChildren = (element) => { + while (element && element.lastChild) element.removeChild(element.lastChild); +}; + +/** + * See https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Regular_Expressions#escaping + */ +const _escapeRegExp = (string) => + string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string + +const _displayItem = (item, searchTerms, highlightTerms) => { + const docBuilder = DOCUMENTATION_OPTIONS.BUILDER; + const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX; + const docLinkSuffix = DOCUMENTATION_OPTIONS.LINK_SUFFIX; + const showSearchSummary = DOCUMENTATION_OPTIONS.SHOW_SEARCH_SUMMARY; + const contentRoot = document.documentElement.dataset.content_root; + + const [docName, title, anchor, descr, score, _filename] = item; + + let listItem = document.createElement("li"); + let requestUrl; + let linkUrl; + if (docBuilder === "dirhtml") { + // dirhtml builder + let dirname = docName + "/"; + if (dirname.match(/\/index\/$/)) + dirname = dirname.substring(0, dirname.length - 6); + else if (dirname === "index/") dirname = ""; + requestUrl = contentRoot + dirname; + linkUrl = requestUrl; + } else { + // normal html builders + requestUrl = contentRoot + docName + docFileSuffix; + linkUrl = docName + docLinkSuffix; + } + let linkEl = listItem.appendChild(document.createElement("a")); + linkEl.href = linkUrl + anchor; + linkEl.dataset.score = score; + linkEl.innerHTML = title; + if (descr) { + listItem.appendChild(document.createElement("span")).innerHTML = + " (" + descr + ")"; + // highlight search terms in the description + if (SPHINX_HIGHLIGHT_ENABLED) // set in sphinx_highlight.js + highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted")); + } + else if (showSearchSummary) + fetch(requestUrl) + .then((responseData) => responseData.text()) + .then((data) => { + if (data) + listItem.appendChild( + Search.makeSearchSummary(data, searchTerms, anchor) + ); + // highlight search terms in the summary + if (SPHINX_HIGHLIGHT_ENABLED) // set in sphinx_highlight.js + highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted")); + }); + Search.output.appendChild(listItem); +}; +const _finishSearch = (resultCount) => { + Search.stopPulse(); + Search.title.innerText = _("Search Results"); + if (!resultCount) + Search.status.innerText = Documentation.gettext( + "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories." + ); + else + Search.status.innerText = _( + "Search finished, found ${resultCount} page(s) matching the search query." + ).replace('${resultCount}', resultCount); +}; +const _displayNextItem = ( + results, + resultCount, + searchTerms, + highlightTerms, +) => { + // results left, load the summary and display it + // this is intended to be dynamic (don't sub resultsCount) + if (results.length) { + _displayItem(results.pop(), searchTerms, highlightTerms); + setTimeout( + () => _displayNextItem(results, resultCount, searchTerms, highlightTerms), + 5 + ); + } + // search finished, update title and status message + else _finishSearch(resultCount); +}; +// Helper function used by query() to order search results. +// Each input is an array of [docname, title, anchor, descr, score, filename]. +// Order the results by score (in opposite order of appearance, since the +// `_displayNextItem` function uses pop() to retrieve items) and then alphabetically. +const _orderResultsByScoreThenName = (a, b) => { + const leftScore = a[4]; + const rightScore = b[4]; + if (leftScore === rightScore) { + // same score: sort alphabetically + const leftTitle = a[1].toLowerCase(); + const rightTitle = b[1].toLowerCase(); + if (leftTitle === rightTitle) return 0; + return leftTitle > rightTitle ? -1 : 1; // inverted is intentional + } + return leftScore > rightScore ? 1 : -1; +}; + +/** + * Default splitQuery function. Can be overridden in ``sphinx.search`` with a + * custom function per language. + * + * The regular expression works by splitting the string on consecutive characters + * that are not Unicode letters, numbers, underscores, or emoji characters. + * This is the same as ``\W+`` in Python, preserving the surrogate pair area. + */ +if (typeof splitQuery === "undefined") { + var splitQuery = (query) => query + .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu) + .filter(term => term) // remove remaining empty strings +} + +/** + * Search Module + */ +const Search = { + _index: null, + _queued_query: null, + _pulse_status: -1, + + htmlToText: (htmlString, anchor) => { + const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html'); + for (const removalQuery of [".headerlink", "script", "style"]) { + htmlElement.querySelectorAll(removalQuery).forEach((el) => { el.remove() }); + } + if (anchor) { + const anchorContent = htmlElement.querySelector(`[role="main"] ${anchor}`); + if (anchorContent) return anchorContent.textContent; + + console.warn( + `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.` + ); + } + + // if anchor not specified or not found, fall back to main content + const docContent = htmlElement.querySelector('[role="main"]'); + if (docContent) return docContent.textContent; + + console.warn( + "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template." + ); + return ""; + }, + + init: () => { + const query = new URLSearchParams(window.location.search).get("q"); + document + .querySelectorAll('input[name="q"]') + .forEach((el) => (el.value = query)); + if (query) Search.performSearch(query); + }, + + loadIndex: (url) => + (document.body.appendChild(document.createElement("script")).src = url), + + setIndex: (index) => { + Search._index = index; + if (Search._queued_query !== null) { + const query = Search._queued_query; + Search._queued_query = null; + Search.query(query); + } + }, + + hasIndex: () => Search._index !== null, + + deferQuery: (query) => (Search._queued_query = query), + + stopPulse: () => (Search._pulse_status = -1), + + startPulse: () => { + if (Search._pulse_status >= 0) return; + + const pulse = () => { + Search._pulse_status = (Search._pulse_status + 1) % 4; + Search.dots.innerText = ".".repeat(Search._pulse_status); + if (Search._pulse_status >= 0) window.setTimeout(pulse, 500); + }; + pulse(); + }, + + /** + * perform a search for something (or wait until index is loaded) + */ + performSearch: (query) => { + // create the required interface elements + const searchText = document.createElement("h2"); + searchText.textContent = _("Searching"); + const searchSummary = document.createElement("p"); + searchSummary.classList.add("search-summary"); + searchSummary.innerText = ""; + const searchList = document.createElement("ul"); + searchList.classList.add("search"); + + const out = document.getElementById("search-results"); + Search.title = out.appendChild(searchText); + Search.dots = Search.title.appendChild(document.createElement("span")); + Search.status = out.appendChild(searchSummary); + Search.output = out.appendChild(searchList); + + const searchProgress = document.getElementById("search-progress"); + // Some themes don't use the search progress node + if (searchProgress) { + searchProgress.innerText = _("Preparing search..."); + } + Search.startPulse(); + + // index already loaded, the browser was quick! + if (Search.hasIndex()) Search.query(query); + else Search.deferQuery(query); + }, + + _parseQuery: (query) => { + // stem the search terms and add them to the correct list + const stemmer = new Stemmer(); + const searchTerms = new Set(); + const excludedTerms = new Set(); + const highlightTerms = new Set(); + const objectTerms = new Set(splitQuery(query.toLowerCase().trim())); + splitQuery(query.trim()).forEach((queryTerm) => { + const queryTermLower = queryTerm.toLowerCase(); + + // maybe skip this "word" + // stopwords array is from language_data.js + if ( + stopwords.indexOf(queryTermLower) !== -1 || + queryTerm.match(/^\d+$/) + ) + return; + + // stem the word + let word = stemmer.stemWord(queryTermLower); + // select the correct list + if (word[0] === "-") excludedTerms.add(word.substr(1)); + else { + searchTerms.add(word); + highlightTerms.add(queryTermLower); + } + }); + + if (SPHINX_HIGHLIGHT_ENABLED) { // set in sphinx_highlight.js + localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" ")) + } + + // console.debug("SEARCH: searching for:"); + // console.info("required: ", [...searchTerms]); + // console.info("excluded: ", [...excludedTerms]); + + return [query, searchTerms, excludedTerms, highlightTerms, objectTerms]; + }, + + /** + * execute search (requires search index to be loaded) + */ + _performSearch: (query, searchTerms, excludedTerms, highlightTerms, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + const allTitles = Search._index.alltitles; + const indexEntries = Search._index.indexentries; + + // Collect multiple result groups to be sorted separately and then ordered. + // Each is an array of [docname, title, anchor, descr, score, filename]. + const normalResults = []; + const nonMainIndexResults = []; + + _removeChildren(document.getElementById("search-progress")); + + const queryLower = query.toLowerCase().trim(); + for (const [title, foundTitles] of Object.entries(allTitles)) { + if (title.toLowerCase().trim().includes(queryLower) && (queryLower.length >= title.length/2)) { + for (const [file, id] of foundTitles) { + const score = Math.round(Scorer.title * queryLower.length / title.length); + const boost = titles[file] === title ? 1 : 0; // add a boost for document titles + normalResults.push([ + docNames[file], + titles[file] !== title ? `${titles[file]} > ${title}` : title, + id !== null ? "#" + id : "", + null, + score + boost, + filenames[file], + ]); + } + } + } + + // search for explicit entries in index directives + for (const [entry, foundEntries] of Object.entries(indexEntries)) { + if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) { + for (const [file, id, isMain] of foundEntries) { + const score = Math.round(100 * queryLower.length / entry.length); + const result = [ + docNames[file], + titles[file], + id ? "#" + id : "", + null, + score, + filenames[file], + ]; + if (isMain) { + normalResults.push(result); + } else { + nonMainIndexResults.push(result); + } + } + } + } + + // lookup as object + objectTerms.forEach((term) => + normalResults.push(...Search.performObjectSearch(term, objectTerms)) + ); + + // lookup as search terms in fulltext + normalResults.push(...Search.performTermsSearch(searchTerms, excludedTerms)); + + // let the scorer override scores with a custom scoring function + if (Scorer.score) { + normalResults.forEach((item) => (item[4] = Scorer.score(item))); + nonMainIndexResults.forEach((item) => (item[4] = Scorer.score(item))); + } + + // Sort each group of results by score and then alphabetically by name. + normalResults.sort(_orderResultsByScoreThenName); + nonMainIndexResults.sort(_orderResultsByScoreThenName); + + // Combine the result groups in (reverse) order. + // Non-main index entries are typically arbitrary cross-references, + // so display them after other results. + let results = [...nonMainIndexResults, ...normalResults]; + + // remove duplicate search results + // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept + let seen = new Set(); + results = results.reverse().reduce((acc, result) => { + let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(','); + if (!seen.has(resultStr)) { + acc.push(result); + seen.add(resultStr); + } + return acc; + }, []); + + return results.reverse(); + }, + + query: (query) => { + const [searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms] = Search._parseQuery(query); + const results = Search._performSearch(searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms); + + // for debugging + //Search.lastresults = results.slice(); // a copy + // console.info("search results:", Search.lastresults); + + // print the results + _displayNextItem(results, results.length, searchTerms, highlightTerms); + }, + + /** + * search for object names + */ + performObjectSearch: (object, objectTerms) => { + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const objects = Search._index.objects; + const objNames = Search._index.objnames; + const titles = Search._index.titles; + + const results = []; + + const objectSearchCallback = (prefix, match) => { + const name = match[4] + const fullname = (prefix ? prefix + "." : "") + name; + const fullnameLower = fullname.toLowerCase(); + if (fullnameLower.indexOf(object) < 0) return; + + let score = 0; + const parts = fullnameLower.split("."); + + // check for different match types: exact matches of full name or + // "last name" (i.e. last dotted part) + if (fullnameLower === object || parts.slice(-1)[0] === object) + score += Scorer.objNameMatch; + else if (parts.slice(-1)[0].indexOf(object) > -1) + score += Scorer.objPartialMatch; // matches in last name + + const objName = objNames[match[1]][2]; + const title = titles[match[0]]; + + // If more than one term searched for, we require other words to be + // found in the name/title/description + const otherTerms = new Set(objectTerms); + otherTerms.delete(object); + if (otherTerms.size > 0) { + const haystack = `${prefix} ${name} ${objName} ${title}`.toLowerCase(); + if ( + [...otherTerms].some((otherTerm) => haystack.indexOf(otherTerm) < 0) + ) + return; + } + + let anchor = match[3]; + if (anchor === "") anchor = fullname; + else if (anchor === "-") anchor = objNames[match[1]][1] + "-" + fullname; + + const descr = objName + _(", in ") + title; + + // add custom score for some objects according to scorer + if (Scorer.objPrio.hasOwnProperty(match[2])) + score += Scorer.objPrio[match[2]]; + else score += Scorer.objPrioDefault; + + results.push([ + docNames[match[0]], + fullname, + "#" + anchor, + descr, + score, + filenames[match[0]], + ]); + }; + Object.keys(objects).forEach((prefix) => + objects[prefix].forEach((array) => + objectSearchCallback(prefix, array) + ) + ); + return results; + }, + + /** + * search for full-text terms in the index + */ + performTermsSearch: (searchTerms, excludedTerms) => { + // prepare search + const terms = Search._index.terms; + const titleTerms = Search._index.titleterms; + const filenames = Search._index.filenames; + const docNames = Search._index.docnames; + const titles = Search._index.titles; + + const scoreMap = new Map(); + const fileMap = new Map(); + + // perform the search on the required terms + searchTerms.forEach((word) => { + const files = []; + const arr = [ + { files: terms[word], score: Scorer.term }, + { files: titleTerms[word], score: Scorer.title }, + ]; + // add support for partial matches + if (word.length > 2) { + const escapedWord = _escapeRegExp(word); + if (!terms.hasOwnProperty(word)) { + Object.keys(terms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: terms[term], score: Scorer.partialTerm }); + }); + } + if (!titleTerms.hasOwnProperty(word)) { + Object.keys(titleTerms).forEach((term) => { + if (term.match(escapedWord)) + arr.push({ files: titleTerms[term], score: Scorer.partialTitle }); + }); + } + } + + // no match but word was a required one + if (arr.every((record) => record.files === undefined)) return; + + // found search word in contents + arr.forEach((record) => { + if (record.files === undefined) return; + + let recordFiles = record.files; + if (recordFiles.length === undefined) recordFiles = [recordFiles]; + files.push(...recordFiles); + + // set score for the word in each file + recordFiles.forEach((file) => { + if (!scoreMap.has(file)) scoreMap.set(file, {}); + scoreMap.get(file)[word] = record.score; + }); + }); + + // create the mapping + files.forEach((file) => { + if (!fileMap.has(file)) fileMap.set(file, [word]); + else if (fileMap.get(file).indexOf(word) === -1) fileMap.get(file).push(word); + }); + }); + + // now check if the files don't contain excluded terms + const results = []; + for (const [file, wordList] of fileMap) { + // check if all requirements are matched + + // as search terms with length < 3 are discarded + const filteredTermCount = [...searchTerms].filter( + (term) => term.length > 2 + ).length; + if ( + wordList.length !== searchTerms.size && + wordList.length !== filteredTermCount + ) + continue; + + // ensure that none of the excluded terms is in the search result + if ( + [...excludedTerms].some( + (term) => + terms[term] === file || + titleTerms[term] === file || + (terms[term] || []).includes(file) || + (titleTerms[term] || []).includes(file) + ) + ) + break; + + // select one (max) score for the file. + const score = Math.max(...wordList.map((w) => scoreMap.get(file)[w])); + // add result to the result list + results.push([ + docNames[file], + titles[file], + "", + null, + score, + filenames[file], + ]); + } + return results; + }, + + /** + * helper function to return a node containing the + * search summary for a given text. keywords is a list + * of stemmed words. + */ + makeSearchSummary: (htmlText, keywords, anchor) => { + const text = Search.htmlToText(htmlText, anchor); + if (text === "") return null; + + const textLower = text.toLowerCase(); + const actualStartPosition = [...keywords] + .map((k) => textLower.indexOf(k.toLowerCase())) + .filter((i) => i > -1) + .slice(-1)[0]; + const startWithContext = Math.max(actualStartPosition - 120, 0); + + const top = startWithContext === 0 ? "" : "..."; + const tail = startWithContext + 240 < text.length ? "..." : ""; + + let summary = document.createElement("p"); + summary.classList.add("context"); + summary.textContent = top + text.substr(startWithContext, 240).trim() + tail; + + return summary; + }, +}; + +_ready(Search.init); diff --git a/v1.9/_static/skeleton.css b/v1.9/_static/skeleton.css new file mode 100644 index 000000000..467c878c6 --- /dev/null +++ b/v1.9/_static/skeleton.css @@ -0,0 +1,296 @@ +/* Some sane resets. */ +html { + height: 100%; +} + +body { + margin: 0; + min-height: 100%; +} + +/* All the flexbox magic! */ +body, +.sb-announcement, +.sb-content, +.sb-main, +.sb-container, +.sb-container__inner, +.sb-article-container, +.sb-footer-content, +.sb-header, +.sb-header-secondary, +.sb-footer { + display: flex; +} + +/* These order things vertically */ +body, +.sb-main, +.sb-article-container { + flex-direction: column; +} + +/* Put elements in the center */ +.sb-header, +.sb-header-secondary, +.sb-container, +.sb-content, +.sb-footer, +.sb-footer-content { + justify-content: center; +} +/* Put elements at the ends */ +.sb-article-container { + justify-content: space-between; +} + +/* These elements grow. */ +.sb-main, +.sb-content, +.sb-container, +article { + flex-grow: 1; +} + +/* Because padding making this wider is not fun */ +article { + box-sizing: border-box; +} + +/* The announcements element should never be wider than the page. */ +.sb-announcement { + max-width: 100%; +} + +.sb-sidebar-primary, +.sb-sidebar-secondary { + flex-shrink: 0; + width: 17rem; +} + +.sb-announcement__inner { + justify-content: center; + + box-sizing: border-box; + height: 3rem; + + overflow-x: auto; + white-space: nowrap; +} + +/* Sidebars, with checkbox-based toggle */ +.sb-sidebar-primary, +.sb-sidebar-secondary { + position: fixed; + height: 100%; + top: 0; +} + +.sb-sidebar-primary { + left: -17rem; + transition: left 250ms ease-in-out; +} +.sb-sidebar-secondary { + right: -17rem; + transition: right 250ms ease-in-out; +} + +.sb-sidebar-toggle { + display: none; +} +.sb-sidebar-overlay { + position: fixed; + top: 0; + width: 0; + height: 0; + + transition: width 0ms ease 250ms, height 0ms ease 250ms, opacity 250ms ease; + + opacity: 0; + background-color: rgba(0, 0, 0, 0.54); +} + +#sb-sidebar-toggle--primary:checked + ~ .sb-sidebar-overlay[for="sb-sidebar-toggle--primary"], +#sb-sidebar-toggle--secondary:checked + ~ .sb-sidebar-overlay[for="sb-sidebar-toggle--secondary"] { + width: 100%; + height: 100%; + opacity: 1; + transition: width 0ms ease, height 0ms ease, opacity 250ms ease; +} + +#sb-sidebar-toggle--primary:checked ~ .sb-container .sb-sidebar-primary { + left: 0; +} +#sb-sidebar-toggle--secondary:checked ~ .sb-container .sb-sidebar-secondary { + right: 0; +} + +/* Full-width mode */ +.drop-secondary-sidebar-for-full-width-content + .hide-when-secondary-sidebar-shown { + display: none !important; +} +.drop-secondary-sidebar-for-full-width-content .sb-sidebar-secondary { + display: none !important; +} + +/* Mobile views */ +.sb-page-width { + width: 100%; +} + +.sb-article-container, +.sb-footer-content__inner, +.drop-secondary-sidebar-for-full-width-content .sb-article, +.drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 100vw; +} + +.sb-article, +.match-content-width { + padding: 0 1rem; + box-sizing: border-box; +} + +@media (min-width: 32rem) { + .sb-article, + .match-content-width { + padding: 0 2rem; + } +} + +/* Tablet views */ +@media (min-width: 42rem) { + .sb-article-container { + width: auto; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 42rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} +@media (min-width: 46rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 46rem; + } + .sb-article, + .match-content-width { + width: 46rem; + } +} +@media (min-width: 50rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 50rem; + } + .sb-article, + .match-content-width { + width: 50rem; + } +} + +/* Tablet views */ +@media (min-width: 59rem) { + .sb-sidebar-secondary { + position: static; + } + .hide-when-secondary-sidebar-shown { + display: none !important; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 59rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} +@media (min-width: 63rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 63rem; + } + .sb-article, + .match-content-width { + width: 46rem; + } +} +@media (min-width: 67rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } + .sb-article, + .match-content-width { + width: 50rem; + } +} + +/* Desktop views */ +@media (min-width: 76rem) { + .sb-sidebar-primary { + position: static; + } + .hide-when-primary-sidebar-shown { + display: none !important; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 59rem; + } + .sb-article, + .match-content-width { + width: 42rem; + } +} + +/* Full desktop views */ +@media (min-width: 80rem) { + .sb-article, + .match-content-width { + width: 46rem; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 63rem; + } +} + +@media (min-width: 84rem) { + .sb-article, + .match-content-width { + width: 50rem; + } + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } +} + +@media (min-width: 88rem) { + .sb-footer-content__inner, + .drop-secondary-sidebar-for-full-width-content .sb-article, + .drop-secondary-sidebar-for-full-width-content .match-content-width { + width: 67rem; + } + .sb-page-width { + width: 88rem; + } +} diff --git a/v1.9/_static/sphinx_highlight.js b/v1.9/_static/sphinx_highlight.js new file mode 100644 index 000000000..8a96c69a1 --- /dev/null +++ b/v1.9/_static/sphinx_highlight.js @@ -0,0 +1,154 @@ +/* Highlighting utilities for Sphinx HTML documentation. */ +"use strict"; + +const SPHINX_HIGHLIGHT_ENABLED = true + +/** + * highlight a given string on a node by wrapping it in + * span elements with the given class name. + */ +const _highlight = (node, addItems, text, className) => { + if (node.nodeType === Node.TEXT_NODE) { + const val = node.nodeValue; + const parent = node.parentNode; + const pos = val.toLowerCase().indexOf(text); + if ( + pos >= 0 && + !parent.classList.contains(className) && + !parent.classList.contains("nohighlight") + ) { + let span; + + const closestNode = parent.closest("body, svg, foreignObject"); + const isInSVG = closestNode && closestNode.matches("svg"); + if (isInSVG) { + span = document.createElementNS("http://www.w3.org/2000/svg", "tspan"); + } else { + span = document.createElement("span"); + span.classList.add(className); + } + + span.appendChild(document.createTextNode(val.substr(pos, text.length))); + const rest = document.createTextNode(val.substr(pos + text.length)); + parent.insertBefore( + span, + parent.insertBefore( + rest, + node.nextSibling + ) + ); + node.nodeValue = val.substr(0, pos); + /* There may be more occurrences of search term in this node. So call this + * function recursively on the remaining fragment. + */ + _highlight(rest, addItems, text, className); + + if (isInSVG) { + const rect = document.createElementNS( + "http://www.w3.org/2000/svg", + "rect" + ); + const bbox = parent.getBBox(); + rect.x.baseVal.value = bbox.x; + rect.y.baseVal.value = bbox.y; + rect.width.baseVal.value = bbox.width; + rect.height.baseVal.value = bbox.height; + rect.setAttribute("class", className); + addItems.push({ parent: parent, target: rect }); + } + } + } else if (node.matches && !node.matches("button, select, textarea")) { + node.childNodes.forEach((el) => _highlight(el, addItems, text, className)); + } +}; +const _highlightText = (thisNode, text, className) => { + let addItems = []; + _highlight(thisNode, addItems, text, className); + addItems.forEach((obj) => + obj.parent.insertAdjacentElement("beforebegin", obj.target) + ); +}; + +/** + * Small JavaScript module for the documentation. + */ +const SphinxHighlight = { + + /** + * highlight the search words provided in localstorage in the text + */ + highlightSearchWords: () => { + if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight + + // get and clear terms from localstorage + const url = new URL(window.location); + const highlight = + localStorage.getItem("sphinx_highlight_terms") + || url.searchParams.get("highlight") + || ""; + localStorage.removeItem("sphinx_highlight_terms") + url.searchParams.delete("highlight"); + window.history.replaceState({}, "", url); + + // get individual terms from highlight string + const terms = highlight.toLowerCase().split(/\s+/).filter(x => x); + if (terms.length === 0) return; // nothing to do + + // There should never be more than one element matching "div.body" + const divBody = document.querySelectorAll("div.body"); + const body = divBody.length ? divBody[0] : document.querySelector("body"); + window.setTimeout(() => { + terms.forEach((term) => _highlightText(body, term, "highlighted")); + }, 10); + + const searchBox = document.getElementById("searchbox"); + if (searchBox === null) return; + searchBox.appendChild( + document + .createRange() + .createContextualFragment( + '

' + + '' + + _("Hide Search Matches") + + "

" + ) + ); + }, + + /** + * helper function to hide the search marks again + */ + hideSearchWords: () => { + document + .querySelectorAll("#searchbox .highlight-link") + .forEach((el) => el.remove()); + document + .querySelectorAll("span.highlighted") + .forEach((el) => el.classList.remove("highlighted")); + localStorage.removeItem("sphinx_highlight_terms") + }, + + initEscapeListener: () => { + // only install a listener if it is really needed + if (!DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS) return; + + document.addEventListener("keydown", (event) => { + // bail for input elements + if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return; + // bail with special keys + if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return; + if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) { + SphinxHighlight.hideSearchWords(); + event.preventDefault(); + } + }); + }, +}; + +_ready(() => { + /* Do not call highlightSearchWords() when we are on the search page. + * It will highlight words from the *previous* search query. + */ + if (typeof Search === "undefined") SphinxHighlight.highlightSearchWords(); + SphinxHighlight.initEscapeListener(); +}); diff --git a/v1.9/_static/styles/furo-extensions.css b/v1.9/_static/styles/furo-extensions.css new file mode 100644 index 000000000..4723a4a18 --- /dev/null +++ b/v1.9/_static/styles/furo-extensions.css @@ -0,0 +1,2 @@ +#furo-sidebar-ad-placement{padding:var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)}#furo-sidebar-ad-placement .ethical-sidebar{background:var(--color-background-secondary);border:none;box-shadow:none}#furo-sidebar-ad-placement .ethical-sidebar:hover{background:var(--color-background-hover)}#furo-sidebar-ad-placement .ethical-sidebar a{color:var(--color-foreground-primary)}#furo-sidebar-ad-placement .ethical-callout 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This file contains the styles used for tweaking how ReadTheDoc's embedded\n// contents would show up inside the theme.\n\n#furo-sidebar-ad-placement\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n .ethical-sidebar\n // Remove the border and box-shadow.\n border: none\n box-shadow: none\n // Manage the background colors.\n background: var(--color-background-secondary)\n &:hover\n background: var(--color-background-hover)\n // Ensure the text is legible.\n a\n color: var(--color-foreground-primary)\n\n .ethical-callout a\n color: var(--color-foreground-secondary) !important\n\n#furo-readthedocs-versions\n position: static\n width: 100%\n background: transparent\n display: block\n\n // Make the background color fit with the theme's aesthetic.\n .rst-versions\n background: rgb(26, 28, 30)\n\n .rst-current-version\n cursor: unset\n background: var(--color-sidebar-item-background)\n &:hover\n background: var(--color-sidebar-item-background)\n .fa-book\n color: var(--color-foreground-primary)\n\n > .rst-other-versions\n padding: 0\n small\n opacity: 1\n\n .injected\n .rst-versions\n position: unset\n\n &:hover,\n &:focus-within\n box-shadow: 0 0 0 1px var(--color-sidebar-background-border)\n\n .rst-current-version\n // Undo the tweaks done in RTD's CSS\n font-size: inherit\n line-height: inherit\n height: auto\n text-align: right\n padding: 12px\n\n // Match the rest of the body\n background: #1a1c1e\n\n .fa-book\n float: left\n color: white\n\n .fa-caret-down\n display: none\n\n .rst-current-version,\n .rst-other-versions,\n .injected\n display: block\n\n > .rst-current-version\n display: none\n",".highlight\n &:hover button.copybtn\n color: var(--color-code-foreground)\n\n button.copybtn\n // Make it visible\n opacity: 1\n\n // Align things correctly\n align-items: center\n\n height: 1.25em\n width: 1.25em\n\n top: 0.625rem // $code-spacing-vertical\n right: 0.5rem\n\n // Make it look better\n color: var(--color-background-item)\n background-color: var(--color-code-background)\n border: none\n\n // Change to cursor to make it obvious that you can click on it\n cursor: pointer\n\n // Transition smoothly, for aesthetics\n transition: color 300ms, opacity 300ms\n\n &:hover\n color: var(--color-brand-content)\n background-color: var(--color-code-background)\n\n &::after\n display: none\n color: var(--color-code-foreground)\n background-color: transparent\n\n &.success\n transition: color 0ms\n color: #22863a\n &::after\n display: block\n\n svg\n padding: 0\n","body\n // Colors\n --sd-color-primary: var(--color-brand-primary)\n --sd-color-primary-highlight: var(--color-brand-content)\n --sd-color-primary-text: var(--color-background-primary)\n\n // Shadows\n --sd-color-shadow: rgba(0, 0, 0, 0.05)\n\n // Cards\n --sd-color-card-border: var(--color-card-border)\n --sd-color-card-border-hover: var(--color-brand-content)\n --sd-color-card-background: var(--color-card-background)\n --sd-color-card-text: var(--color-foreground-primary)\n --sd-color-card-header: var(--color-card-marginals-background)\n --sd-color-card-footer: var(--color-card-marginals-background)\n\n // Tabs\n --sd-color-tabs-label-active: var(--color-brand-content)\n --sd-color-tabs-label-hover: var(--color-foreground-muted)\n --sd-color-tabs-label-inactive: var(--color-foreground-muted)\n --sd-color-tabs-underline-active: var(--color-brand-content)\n --sd-color-tabs-underline-hover: var(--color-foreground-border)\n --sd-color-tabs-underline-inactive: var(--color-background-border)\n --sd-color-tabs-overline: var(--color-background-border)\n --sd-color-tabs-underline: var(--color-background-border)\n\n// Tabs\n.sd-tab-content\n box-shadow: 0 -2px var(--sd-color-tabs-overline), 0 1px var(--sd-color-tabs-underline)\n\n// Shadows\n.sd-card // Have a shadow by default\n box-shadow: 0 0.1rem 0.25rem var(--sd-color-shadow), 0 0 0.0625rem rgba(0, 0, 0, 0.1)\n\n.sd-shadow-sm\n box-shadow: 0 0.1rem 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transparent\n --tabs--padding-x: 0.25em\n --tabs--margin-x: 1em\n --tabs--border: var(--color-background-border)\n --tabs--label-border: transparent\n --tabs--label-border--hover: var(--color-foreground-muted)\n --tabs--label-border--active: var(--color-brand-content)\n --tabs--label-border--active--hover: var(--color-brand-content)\n","// This file contains styles to tweak sphinx-panels to work well with Furo.\n\n// sphinx-panels includes Bootstrap 4, which uses .container which can conflict\n// with docutils' `.. container::` directive.\n[role=\"main\"] .container\n max-width: initial\n padding-left: initial\n padding-right: initial\n\n// Make the panels look nicer!\n.shadow.docutils\n border: none\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), 0 0 0.0625rem rgba(0, 0, 0, 0.1) !important\n\n// Make panel colors respond to dark mode\n.sphinx-bs .card\n background-color: var(--color-background-secondary)\n color: var(--color-foreground)\n","// Farama Base\n\n$farama-background: linear-gradient(to right top, #765e3e, #054f5b)\n\nh1\n font-size: 2.2rem\nh2\n font-size: 1.7rem\nh3\n font-size: 1.4rem\n\n// If menu is active then all elements except the menu are not visible (i.e. only element with aria-hidden=\"true\")\nhtml:has(.farama-header-menu.active)\n visibility: hidden\n\n.farama-hidden[aria-hidden=\"true\"]\n visibility: hidden\n\n.farama-hidden[aria-hidden=\"false\"]\n visibility: visible\n\n// Cookies Alert\n\n.cookie-alert\n position: fixed\n display: flex\n width: 100%\n min-height: 70px\n background-color: var(--color-background-secondary)\n color: var(--color-foreground-primary)\n border-top: 1px solid var(--color-background-border)\n bottom: 0\n left: 0\n z-index: 99999\n\n.cookie-alert__container\n display: flex\n align-items: center\n width: 700px\n max-width: calc(100% - 28px)\n margin: auto\n\n.cookie-alert__button\n margin-left: 14px\n\n.cookie-alert p\n flex: 1\n\n// Farama default button style\n\n.farama-btn\n background: var(--color-farama-button-background)\n padding: 10px 26px\n border-radius: 6px\n border: none\n transition: background-color 0.2s ease\n cursor: pointer\n\n &:hover\n background: var(--color-farama-button-background-hover)\n\n// Env Icons\n\narticle[role=main]:has(.farama-env-icon-container)\n .farama-env-icon-container\n position: absolute\n display: flex\n margin-top: 7px\n\n .section h1:first-child, .section h2:first-child, section h1:first-child, section h2:first-child\n margin-left: 34px\n\n.farama-env-icon\n height: 32px\n\n// Envinronments grid\n\n.env-grid\n display: flex\n flex-wrap: wrap\n justify-content: center\n width: 100%\n box-sizing: border-box\n\n.env-grid__cell\n display: flex\n flex-direction: column\n width: 180px\n height: 180px\n padding: 10px\n\n.cell__image-container\n display: flex\n height: 148px\n justify-content: center\n\n.cell__image-container img\n max-height: 100%\n object-fit: contain\n\n.cell__title\n display: flex\n justify-content: center\n text-align: center\n align-items: flex-end\n height: 32px\n line-height: 16px\n\n.more-btn\n width: 240px\n margin: 12px auto\n display: block\n\n// Farama Header\n\nhtml:has(.farama-header-menu.active)\n overflow: hidden\n\nbody\n --farama-header-height: 52px\n --farama-header-logo-margin: 10px\n --farama-sidebar-logo-margin: 2px 10px\n\n.farama-header\n position: absolute\n display: flex\n width: 100%\n height: var(--farama-header-height)\n border-bottom: 1px solid var(--color-header-border)\n background-color: var(--color-background-secondary)\n padding: 0 36px 0 24px\n box-sizing: border-box\n z-index: 95\n\n .farama-header__container\n width: 100%\n max-width: 1400px\n display: flex\n margin: 0 auto\n justify-content: space-between\n\n a\n color: var(--color-foreground-primary)\n text-decoration: none\n transition: color 0.125s ease\n\n &:hover\n color: var(--color-foreground-secondary)\n\n .farama-header__logo\n max-height: calc(var(--farama-header-height) - var(--farama-header-logo-margin))\n margin: var(--farama-header-logo-margin)\n\n .farama-header__title\n font-size: var(--font-size--normal)\n font-weight: normal\n margin: 0 0 2px 0\n padding: 0 0 0 4px\n align-self: center\n\n .farama-header__left\n display: flex\n\n a\n display: flex\n\n .farama-header__left--mobile\n display: none\n\n .nav-overlay-icon svg\n width: 20px\n stroke: var(--color-foreground-primary)\n fill: var(--color-foreground-primary)\n stroke-width: 2px\n padding: 0 6px\n\n .farama-header__right\n display: flex\n align-items: center\n z-index: 2\n\n .farama-header__nav\n display: flex\n list-style: none\n height: 100%\n\n li\n text-decoration: none\n margin-left: 20px\n display: flex\n align-items: center\n cursor: pointer\n\n a\n height: 100%\n display: flex\n align-items: center\n\n .farama-header__dropdown-container\n position: relative\n display: flex\n align-items: center\n height: 100%\n\n &:hover\n .farama-header__dropdown-menu\n display: block\n\n svg\n width: 32px\n fill: var(--color-foreground-primary)\n\n .farama-header__dropdown-menu\n position: absolute\n top: var(--farama-header-height)\n right: 0\n border: 1px solid var(--color-background-border)\n background: var(--color-background-hover)\n z-index: 9999\n display: none\n\n ul\n display: inherit\n margin: 0\n padding: 6px 14px\n\n li\n margin: 0\n padding: 6px 0\n\n .farama-header-menu\n position: relative\n display: flex\n justify-content: center\n\n .farama-header-menu__btn\n display: flex\n background: none\n border: none\n cursor: pointer\n\n img\n width: 26px\n svg\n width: 14px\n stroke: var(--color-foreground-primary)\n stroke-width: 2px\n align-self: center\n\n\n &.active .farama-header-menu-container\n transform: translateY(100vh)\n\n .farama-header-menu-container\n position: fixed\n z-index: 99\n right: 0\n top: -100vh\n width: 100%\n height: calc(100vh - calc(100vh - 100%))\n transform: translateY(0)\n box-sizing: border-box\n transition: transform 0.2s ease-in\n background-color: var(--color-background-secondary)\n border-left: 1px solid var(--color-background-border)\n overflow: auto\n\n .farama-header-menu__header\n position: relative\n width: 100%\n max-width: 1400px\n box-sizing: border-box\n margin: 0 auto\n padding: 7px 52px\n border-bottom: 1px solid var(--color-background-border)\n display: flex\n align-items: center\n\n a\n display: flex\n align-items: center\n\n .farama-header-menu__logo\n width: 36px\n\n span\n color: var(--color-sidebar-brand-text)\n padding-left: 8px\n\n .farama-header-menu-header__right\n position: absolute\n right: 0\n padding-right: inherit\n\n button\n display: flex\n background: none\n border: none\n cursor: pointer\n\n svg\n width: 20px\n color: var(--color-foreground-primary)\n\n .farama-header-menu__body\n display: flex\n width: 100%\n max-width: 1500px\n padding: 22px 52px\n box-sizing: border-box\n margin: 0 auto\n flex-wrap: wrap\n\n .farama-header-menu__section\n min-width: 220px\n margin-bottom: 24px\n padding-left: 18px\n\n .farama-header-menu__section-title\n display: block\n font-size: var(--font-size--small)\n font-weight: 600\n text-transform: uppercase\n padding: 0 12px 12px\n\n .farama-header-menu__subsections-container\n\n .farama-header-menu__subsection\n min-width: 210px\n\n &:not(:last-child)\n margin-right: 12px\n\n .farama-header-menu__subsection-title\n display: block\n font-size: var(--font-size--small--3)\n color: var(--color-foreground-secondary)\n font-weight: 700\n text-transform: uppercase\n padding: 20px 12px 10px\n\n .farama-header-menu-list\n display: inherit\n margin: 0\n padding: 0\n list-style: none\n\n li\n border-radius: var(--sidebar-item-border-radius)\n\n &:hover\n background-color: var(--color-farama-header-background-hover)\n\n a\n display: flex\n padding: 12px 14px\n align-items: center\n\n &:hover\n color: inherit\n\n img\n width: 26px\n margin-right: 10px\n\n.farama-sidebar__title\n display: flex\n align-items: center\n padding-right: 4px\n min-height: calc(52px - var(--sidebar-search-space-above))\n margin-top: 0.6rem\n margin-left: var(--sidebar-search-space-lateral)\n text-decoration: none\n\n img\n height: calc(var(--farama-header-height) - 20px)\n margin: var(--farama-sidebar-logo-margin)\n span\n color: var(--color-foreground-primary)\n &:hover\n text-decoration: none\n\n.sidebar-brand\n flex-direction: row\n padding: var(--sidebar-item-spacing-vertical)\n align-items: center\n\n .sidebar-logo-container\n display: flex\n max-width: 55px\n height: auto\n\n .sidebar-brand-text\n font-size: 1.3rem\n padding-left: 11px\n\n.farama-sidebar-donate\n width: 76%\n padding: 8px 16px 20px\n margin: 0 auto\n\n .farama-donate-btn\n width: 100%\n padding: 8px 12px\n color: #fff\n background: $farama-background\n background-blend-mode: color\n background-color: transparent\n transition: background-color 0.2s ease\n border: none\n border-radius: 6px\n cursor: pointer\n\n &:hover\n background-color: rgb(255 255 255 / 15%)\n\n.farama-donate-banner\n display: none\n padding: 16px 3em\n width: 100%\n box-sizing: border-box\n background-color: var(--color-highlighted-background)\n\n &.active\n display: flex\n\n .farama-donate-banner__text\n flex: 1\n display: flex\n justify-content: center\n align-items: center\n font-size: 1.1em\n\n .farama-donate-banner__btns\n display: flex\n align-items: center\n\n a\n text-decoration: none\n\n button\n margin-left: 22px\n height: 36px\n position: relative\n border: none\n border-radius: 6px\n display: flex\n justify-content: center\n align-items: center\n cursor: pointer\n\n .farama-donate-banner__go\n color: #fff\n background: $farama-background\n background-blend-mode: color\n background-color: transparent\n transition: background-color 0.2s ease\n padding: 0 26px\n\n &:hover\n background-color: rgb(255 255 255 / 10%)\n\n .farama-donate-banner__cancel\n transition: background-color 0.2s ease\n\n svg\n height: 26px\n\n@media (prefers-color-scheme: dark)\n body:not([data-theme=\"light\"])\n .farama-donate-banner__cancel\n background-color: rgb(0 0 0 / 10%)\n &:hover\n background: rgb(0 0 0 / 20%)\n svg\n stroke: #fff\n\n body[data-theme=\"light\"]\n .farama-donate-banner__cancel\n background-color: rgb(25 25 25 / 10%)\n &:hover\n background: rgb(255 255 255 / 20%)\n svg\n stroke: #666\n\n@media (prefers-color-scheme: light)\n body:not([data-theme=\"dark\"])\n .farama-donate-banner__cancel\n background-color: rgb(25 25 25 / 10%)\n &:hover\n background: rgb(255 255 255 / 20%)\n svg\n stroke: #666\n\n body[data-theme=\"dark\"]\n .farama-donate-banner__cancel\n background-color: rgb(0 0 0 / 10%)\n &:hover\n background: rgb(0 0 0 / 20%)\n svg\n stroke: #fff\n\n\n// Farama custom directives\n\n.farama-project-logo\n margin: 1.5rem 0 0.8rem !important\n\n.farama-project-heading\n text-align: center\n padding: 0 0 1.6rem 0\n margin: 0\n\n.farama-project-logo img\n width: 65%\n\n.mobile-header\n .header-center\n transition: opacity 0.2s easy-in\n opacity: 0\n\n.mobile-header.scrolled\n .header-center\n opacity: 1\n\n// Sphinx Gallery\n\n.sphx-glr-script-out\n color: var(--color-foreground-secondary)\n display: flex\n gap: 0.5em\n\n.sphx-glr-script-out::before\n content: \"Out:\"\n line-height: 1.4\n padding-top: 10px\n\n.sphx-glr-script-out .highlight\n overflow-x: auto\n\n.sphx-glr-thumbcontainer\n z-index: 1\n\ndiv.sphx-glr-download a\n width: 340px\n max-width: 100%\n box-sizing: border-box\n background: #0f4a65\n\ndiv.sphx-glr-download a:hover\n background: #0d3a4e\n box-shadow: none\n\n@media (prefers-color-scheme: dark)\n body:not([data-theme=\"light\"])\n div.sphx-glr-download a\n background: #0f4a65\n div.sphx-glr-download a:hover\n background: #0d3a4e\n body[data-theme=\"light\"]\n div.sphx-glr-download a\n background: #f9d4a1\n div.sphx-glr-download a:hover\n background: #d9b481\n\n@media (prefers-color-scheme: light)\n body:not([data-theme=\"dark\"])\n div.sphx-glr-download a\n background: #f9d4a1\n div.sphx-glr-download a:hover\n background: #d9b481\n body[data-theme=\"dark\"]\n div.sphx-glr-download a\n background: #0f4a65\n div.sphx-glr-download a:hover\n background: #0d3a4e\n\nbody[data-theme=\"light\"]\n div.sphx-glr-download a\n background: #f9d4a1\n div.sphx-glr-download a:hover\n background: #d9b481\n\n.sphx-glr-thumbcontainer img\n background-color: white\n border-radius: 4px\n\n// Override Tabs styles\n\n.tab-content > [class^=\"highlight-\"]:first-child .highlight\n background: var(--color-api-background)\n border-radius: 6px\n\n.tab-set > input + label\n font-weight: 600\n\n.tab-set > input:checked + label, .tab-set > input:checked + label:hover\n color: var(--color-brand-secondary)\n border-color: var(--color-brand-secondary)\n\n// Sphinx Jupyter\n\ndiv.jupyter_container\n background: var(--color-api-background)\n border: none\n box-shadow: none\n\n div.code_cell, div.highlight\n border: none\n border-radius: 0\n\n div.code_cell pre\n padding: 0.625rem 0.875rem\n\n@media (prefers-color-scheme: dark)\n body:not([data-theme=\"light\"]) div.jupyter_container div.highlight\n background: #202020\n color: #d0d0d0\n\nbody[data-theme=\"dark\"]\n div.jupyter_container div.highlight\n background: #202020\n color: #d0d0d0\n\n\n\n\n@media (max-width: 950px)\n .farama-header .farama-header__right .farama-header-menu .farama-header-menu-container .farama-header-menu__header\n padding: 7px 42px\n\n .farama-header .farama-header-menu__btn-name\n display: none\n\n\n@media (max-width: 600px)\n .farama-header\n padding: 0 4px\n\n .farama-header__title\n font-size: var(--font-size--small)\n\n .farama-header__right .farama-header-menu .farama-header-menu-container\n .farama-header-menu__header\n padding: 8px 12px\n .farama-header-menu__body\n padding: 18px 12px\n\n .farama-donate-banner\n flex-direction: column\n\n\n .farama-donate-banner__btns\n margin-top: 1em\n justify-content: end\n\n button\n margin-left: 12px\n height: 36px\n\n .farama-donate-banner__go\n padding: 0 20px\n\n .farama-donate-banner__cancel\n svg\n height: 26px\n\n\n@media (max-width: 480px)\n .farama-header\n .farama-header__title\n width: 110px\n\n .farama-header-menu__btn-name\n text-align: right\n width: 100px\n\n .farama-project-heading\n text-align: left\n\n .farama-header-menu__subsections-container\n display: block !important\n\n\n@media (prefers-color-scheme: light)\n body:not([data-theme=\"dark\"])\n .farama-white-logo-invert\n filter: invert(1)\n\n body[data-theme=\"dark\"]\n .farama-black-logo-invert\n filter: invert(1)\n\n\n@media (prefers-color-scheme: dark)\n body:not([data-theme=\"light\"])\n // Github math render\n img[src*=\"//render.githubusercontent.com/render/math\"]\n filter: invert(90%)\n\n .farama-black-logo-invert\n filter: invert(1)\n\n body[data-theme=\"light\"]\n .farama-white-logo-invert\n filter: invert(1)\n"],"names":[],"sourceRoot":""} \ No newline at end of file diff --git a/v1.9/_static/styles/furo.css b/v1.9/_static/styles/furo.css new file mode 100644 index 000000000..04165d589 --- /dev/null +++ b/v1.9/_static/styles/furo.css @@ -0,0 +1,2 @@ +/*! normalize.css v8.0.1 | MIT License | github.com/necolas/normalize.css */html{-webkit-text-size-adjust:100%;line-height:1.15}body{margin:0}main{display:block}h1{font-size:2em;margin:.67em 0}hr{box-sizing:content-box;height:0;overflow:visible}pre{font-family:monospace,monospace;font-size:1em}a{background-color:transparent}abbr[title]{border-bottom:none;text-decoration:underline;text-decoration:underline 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--color-sidebar-brand-text:var(--color-foreground-primary);--color-sidebar-caption-text:var(--color-foreground-primary);--color-sidebar-link-text:var(--color-foreground-secondary);--color-sidebar-link-text--top-level:var(--color-foreground-primary);--color-sidebar-item-background:var(--color-sidebar-background);--color-sidebar-item-background--current:var(--color-background-hover);--color-sidebar-item-background--hover:var(--color-brand-secondary-transparent);--color-sidebar-item-expander-background:transparent;--color-sidebar-item-expander-background--hover:var( --color-sidebar-item-background--hover 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body .only-dark{display:none!important}@media not 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Remove the inheritance of text transform in Firefox.\n */\n\nbutton,\nselect { /* 1 */\n text-transform: none;\n}\n\n/**\n * Correct the inability to style clickable types in iOS and Safari.\n */\n\nbutton,\n[type=\"button\"],\n[type=\"reset\"],\n[type=\"submit\"] {\n -webkit-appearance: button;\n}\n\n/**\n * Remove the inner border and padding in Firefox.\n */\n\nbutton::-moz-focus-inner,\n[type=\"button\"]::-moz-focus-inner,\n[type=\"reset\"]::-moz-focus-inner,\n[type=\"submit\"]::-moz-focus-inner {\n border-style: none;\n padding: 0;\n}\n\n/**\n * Restore the focus styles unset by the previous rule.\n */\n\nbutton:-moz-focusring,\n[type=\"button\"]:-moz-focusring,\n[type=\"reset\"]:-moz-focusring,\n[type=\"submit\"]:-moz-focusring {\n outline: 1px dotted ButtonText;\n}\n\n/**\n * Correct the padding in Firefox.\n */\n\nfieldset {\n padding: 0.35em 0.75em 0.625em;\n}\n\n/**\n * 1. Correct the text wrapping in Edge and IE.\n * 2. Correct the color inheritance from `fieldset` elements in IE.\n * 3. Remove the padding so developers are not caught out when they zero out\n * `fieldset` elements in all browsers.\n */\n\nlegend {\n box-sizing: border-box; /* 1 */\n color: inherit; /* 2 */\n display: table; /* 1 */\n max-width: 100%; /* 1 */\n padding: 0; /* 3 */\n white-space: normal; /* 1 */\n}\n\n/**\n * Add the correct vertical alignment in Chrome, Firefox, and Opera.\n */\n\nprogress {\n vertical-align: baseline;\n}\n\n/**\n * Remove the default vertical scrollbar in IE 10+.\n */\n\ntextarea {\n overflow: auto;\n}\n\n/**\n * 1. Add the correct box sizing in IE 10.\n * 2. Remove the padding in IE 10.\n */\n\n[type=\"checkbox\"],\n[type=\"radio\"] {\n box-sizing: border-box; /* 1 */\n padding: 0; /* 2 */\n}\n\n/**\n * Correct the cursor style of increment and decrement buttons in Chrome.\n */\n\n[type=\"number\"]::-webkit-inner-spin-button,\n[type=\"number\"]::-webkit-outer-spin-button {\n height: auto;\n}\n\n/**\n * 1. Correct the odd appearance in Chrome and Safari.\n * 2. Correct the outline style in Safari.\n */\n\n[type=\"search\"] {\n -webkit-appearance: textfield; /* 1 */\n outline-offset: -2px; /* 2 */\n}\n\n/**\n * Remove the inner padding in Chrome and Safari on macOS.\n */\n\n[type=\"search\"]::-webkit-search-decoration {\n -webkit-appearance: none;\n}\n\n/**\n * 1. Correct the inability to style clickable types in iOS and Safari.\n * 2. Change font properties to `inherit` in Safari.\n */\n\n::-webkit-file-upload-button {\n -webkit-appearance: button; /* 1 */\n font: inherit; /* 2 */\n}\n\n/* Interactive\n ========================================================================== */\n\n/*\n * Add the correct display in Edge, IE 10+, and Firefox.\n */\n\ndetails {\n display: block;\n}\n\n/*\n * Add the correct display in all browsers.\n */\n\nsummary {\n display: list-item;\n}\n\n/* Misc\n ========================================================================== */\n\n/**\n * Add the correct display in IE 10+.\n */\n\ntemplate {\n display: none;\n}\n\n/**\n * Add the correct display in IE 10.\n */\n\n[hidden] {\n display: none;\n}\n","// This file contains styles for managing print media.\n\n////////////////////////////////////////////////////////////////////////////////\n// Hide elements not relevant to print media.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n // Hide icon container.\n .content-icon-container\n display: none !important\n\n // Hide showing header links if hovering over when printing.\n .headerlink\n display: none !important\n\n // Hide mobile header.\n .mobile-header\n display: none !important\n\n // Hide navigation links.\n .related-pages\n display: none !important\n\n////////////////////////////////////////////////////////////////////////////////\n// Tweaks related to decolorization.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n // Apply a border around code which no longer have a color background.\n .highlight\n border: 0.1pt solid var(--color-foreground-border)\n\n////////////////////////////////////////////////////////////////////////////////\n// Avoid page break in some relevant cases.\n////////////////////////////////////////////////////////////////////////////////\n@media print\n ul, ol, dl, a, table, pre, blockquote\n page-break-inside: avoid\n\n h1, h2, h3, h4, h5, h6, img, figure, caption\n page-break-inside: avoid\n page-break-after: avoid\n\n ul, ol, dl\n page-break-before: avoid\n",".visually-hidden\n position: absolute !important\n width: 1px !important\n height: 1px !important\n padding: 0 !important\n margin: -1px !important\n overflow: hidden !important\n clip: rect(0,0,0,0) !important\n white-space: nowrap !important\n border: 0 !important\n\n:-moz-focusring\n outline: auto\n","// This file serves as the \"skeleton\" of the theming logic.\n//\n// This contains the bulk of the logic for handling dark mode, color scheme\n// toggling and the handling of color-scheme-specific hiding of elements.\n\nbody\n @include fonts\n @include spacing\n @include icons\n @include admonitions\n @include default-admonition(#651fff, \"abstract\")\n @include default-topic(#14B8A6, \"pencil\")\n\n @include colors\n\n.only-light\n display: block !important\nhtml body .only-dark\n display: none !important\n\n// Ignore dark-mode hints if print media.\n@media not print\n // Enable dark-mode, if requested.\n body[data-theme=\"dark\"]\n @include colors-dark\n\n html & .only-light\n display: none !important\n .only-dark\n display: block !important\n\n // Enable dark mode, unless explicitly told to avoid.\n @media (prefers-color-scheme: dark)\n body:not([data-theme=\"light\"])\n @include colors-dark\n\n html & .only-light\n display: none !important\n .only-dark\n display: block !important\n\n//\n// Theme toggle presentation\n//\nbody[data-theme=\"auto\"]\n .theme-toggle svg.theme-icon-when-auto\n display: block\n\nbody[data-theme=\"dark\"]\n .theme-toggle svg.theme-icon-when-dark\n display: block\n\nbody[data-theme=\"light\"]\n .theme-toggle svg.theme-icon-when-light\n display: block\n","// Fonts used by this theme.\n//\n// There are basically two things here -- using the system font stack and\n// defining sizes for various elements in %ages. We could have also used `em`\n// but %age is easier to reason about for me.\n\n@mixin fonts {\n // These are adapted from https://systemfontstack.com/\n --font-stack: -apple-system, BlinkMacSystemFont, Segoe UI, Helvetica, Arial,\n sans-serif, Apple Color Emoji, Segoe UI Emoji;\n --font-stack--monospace: \"SFMono-Regular\", Menlo, Consolas, Monaco,\n Liberation Mono, Lucida Console, monospace;\n\n --font-size--normal: 100%;\n --font-size--small: 87.5%;\n --font-size--small--2: 81.25%;\n --font-size--small--3: 75%;\n --font-size--small--4: 62.5%;\n\n // Sidebar\n --sidebar-caption-font-size: var(--font-size--small);\n --sidebar-item-font-size: var(--font-size--small);\n --sidebar-search-input-font-size: var(--font-size--small);\n\n // Table of Contents\n --toc-font-size: var(--font-size--small--2);\n --toc-font-size--mobile: var(--font-size--normal);\n --toc-title-font-size: var(--font-size--small--4);\n\n // Admonitions\n //\n // These aren't defined in terms of %ages, since nesting these is permitted.\n --admonition-font-size: 0.8125rem;\n --admonition-title-font-size: 0.8125rem;\n\n // Code\n --code-font-size: var(--font-size--small--2);\n\n // API\n --api-font-size: var(--font-size--small);\n}\n","// Spacing for various elements on the page\n//\n// If the user wants to tweak things in a certain way, they are permitted to.\n// They also have to deal with the consequences though!\n\n@mixin spacing {\n // Header!\n --header-height: calc(\n var(--sidebar-item-line-height) + 4 * #{var(--sidebar-item-spacing-vertical)}\n );\n --header-padding: 0.5rem;\n\n // Sidebar\n --sidebar-tree-space-above: 1.2rem;\n --sidebar-tree-space-horizontal: 0.5rem;\n --sidebar-caption-space-above: 1rem;\n\n --sidebar-item-line-height: 1rem;\n --sidebar-item-spacing-vertical: 0.5rem;\n --sidebar-item-spacing-horizontal: 1rem;\n --sidebar-item-height: calc(\n var(--sidebar-item-line-height) + 2 *#{var(--sidebar-item-spacing-vertical)}\n );\n\n --sidebar-expander-width: var(--sidebar-item-height); // be square\n\n --sidebar-search-space-above: 1.2rem;\n --sidebar-search-space-lateral: 0.7rem;\n --sidebar-search-input-spacing-vertical: 0.5rem;\n --sidebar-search-input-spacing-horizontal: 0.5rem;\n --sidebar-search-input-height: 1.2rem;\n --sidebar-search-icon-size: var(--sidebar-search-input-height);\n\n // Table of Contents\n --toc-title-padding: 0.25rem 0;\n --toc-spacing-vertical: 4.5rem;\n --toc-spacing-horizontal: 1.5rem;\n --toc-item-spacing-vertical: 0.4rem;\n --toc-item-spacing-horizontal: 1rem;\n\n --sidebar-item-border-radius: 8px;\n --sidebar-search-border-radius: 8px;\n}\n","// Expose theme icons as CSS variables.\n\n$icons: (\n // Adapted from tabler-icons\n // url: https://tablericons.com/\n \"search\":\n url('data:image/svg+xml;charset=utf-8,'),\n // Factored out from mkdocs-material on 24-Aug-2020.\n // url: https://squidfunk.github.io/mkdocs-material/reference/admonitions/\n \"pencil\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"abstract\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"info\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"flame\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"question\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"warning\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"failure\":\n url('data:image/svg+xml;charset=utf-8,'),\n \"spark\":\n url('data:image/svg+xml;charset=utf-8,')\n);\n\n@mixin icons {\n @each $name, $glyph in $icons {\n --icon-#{$name}: #{$glyph};\n }\n}\n","// Admonitions\n\n// Structure of these is:\n// admonition-class: color \"icon-name\";\n//\n// The colors are translated into CSS variables below. The icons are\n// used directly in the main declarations to set the `mask-image` in\n// the title.\n\n// prettier-ignore\n$admonitions: (\n // Each of these has an reST directives for it.\n \"caution\": #ff9100 \"spark\",\n \"warning\": #ff9100 \"warning\",\n \"danger\": #ff5252 \"spark\",\n \"attention\": #ff5252 \"warning\",\n \"error\": #ff5252 \"failure\",\n \"hint\": #00c852 \"question\",\n \"tip\": #00c852 \"info\",\n \"important\": #00bfa5 \"flame\",\n \"note\": #00b0ff \"pencil\",\n \"seealso\": #448aff \"info\",\n \"admonition-todo\": #808080 \"pencil\"\n);\n\n@mixin default-admonition($color, $icon-name) {\n --color-admonition-title: #{$color};\n --color-admonition-title-background: #{rgba($color, 0.2)};\n\n --icon-admonition-default: var(--icon-#{$icon-name});\n}\n\n@mixin default-topic($color, $icon-name) {\n --color-topic-title: #{$color};\n --color-topic-title-background: #{rgba($color, 0.2)};\n\n --icon-topic-default: var(--icon-#{$icon-name});\n}\n\n@mixin admonitions {\n @each $name, $values in $admonitions {\n --color-admonition-title--#{$name}: #{nth($values, 1)};\n --color-admonition-title-background--#{$name}: #{rgba(\n nth($values, 1),\n 0.2\n )};\n }\n}\n","// Colors used throughout this theme.\n//\n// The aim is to give the user more control. Thus, instead of hard-coding colors\n// in various parts of the stylesheet, the approach taken is to define all\n// colors as CSS variables and reusing them in all the places.\n//\n// `colors-dark` depends on `colors` being included at a lower specificity.\n\n@mixin colors {\n --color-problematic: #b30000;\n\n // Base Colors\n --color-foreground-primary: #202123; // for main text and headings\n --color-foreground-secondary: #5a5c63; // for secondary text\n --color-foreground-muted: #646776; // for muted text\n --color-foreground-border: #878787; // for content borders\n\n --color-background-primary: white; // for content\n --color-background-secondary: #f8f9fb; // for navigation + ToC\n --color-background-hover: #efeff4ff; // for navigation-item hover\n --color-background-hover--transparent: #efeff400;\n --color-background-border: #eeebee; // for UI borders\n --color-background-item: #ccc; // for \"background\" items (eg: copybutton)\n\n // Announcements\n --color-announcement-background: #000000dd;\n --color-announcement-text: #eeebee;\n\n // Brand colors\n --color-brand-primary: #0f4a65;\n --color-brand-content: #2a6cdf;\n --color-brand-secondary: #624d2e;\n --color-brand-secondary-transparent: rgba(217, 180, 129, 0.2);\n\n // API documentation\n --color-api-background: #f8f8fb;\n --color-api-background-hover: var(--color-api-background);\n --color-api-overall: var(--color-foreground-secondary);\n --color-api-name: var(--color-brand-secondary);\n --color-api-pre-name: var(--color-brand-secondary);\n --color-api-paren: var(--color-foreground-secondary);\n --color-api-keyword: var(--color-foreground-primary);\n --color-highlight-on-target: #ffffcc;\n\n // Inline code background\n --color-inline-code-background: var(--color-background-secondary);\n\n // Highlighted text (search)\n --color-highlighted-background: #ddeeff;\n --color-highlighted-text: var(--color-foreground-primary);\n\n // GUI Labels\n --color-guilabel-background: #ddeeff80;\n --color-guilabel-border: #bedaf580;\n --color-guilabel-text: var(--color-foreground-primary);\n\n // Admonitions!\n --color-admonition-background: transparent;\n\n //////////////////////////////////////////////////////////////////////////////\n // Everything below this should be one of:\n // - var(...)\n // - *-gradient(...)\n // - special literal values (eg: transparent, none)\n //////////////////////////////////////////////////////////////////////////////\n\n // Tables\n --color-table-header-background: var(--color-background-secondary);\n --color-table-border: var(--color-background-border);\n\n // Cards\n --color-card-border: var(--color-background-secondary);\n --color-card-background: transparent;\n --color-card-marginals-background: var(--color-background-secondary);\n\n // Header\n --color-header-background: var(--color-background-primary);\n --color-header-border: var(--color-background-border);\n --color-header-text: var(--color-foreground-primary);\n\n // Sidebar (left)\n --color-sidebar-background: var(--color-background-secondary);\n --color-sidebar-background-border: var(--color-background-border);\n --color-sidebar-item-current--hover: var(--color-brand-secondary)\n --color-sidebar-brand-text: var(--color-foreground-primary);\n --color-sidebar-caption-text: var(--color-foreground-primary);\n --color-sidebar-link-text: var(--color-foreground-secondary);\n --color-sidebar-link-text--top-level: var(--color-foreground-primary);\n\n --color-sidebar-item-background: var(--color-sidebar-background);\n --color-sidebar-item-background--current: var(--color-background-hover);\n // --color-sidebar-item-background--hover: linear-gradient(\n // 90deg,\n // var(--color-background-hover--transparent) 0%,\n // var(--color-background-hover) var(--sidebar-item-spacing-horizontal),\n // var(--color-background-hover) 100%\n // );\n // --color-sidebar-item-background--hover: var(--color-background-hover);\n --color-sidebar-item-background--hover: var(--color-brand-secondary-transparent);\n\n --color-sidebar-item-expander-background: transparent;\n --color-sidebar-item-expander-background--hover: var(\n --color-sidebar-item-background--hover\n );\n\n --color-sidebar-search-text: var(--color-foreground-primary);\n --color-sidebar-search-background: var(--color-background-border);\n --color-sidebar-search-background--focus: var(--color-background-hover--transparent);\n --color-sidebar-search-border: var(--color-background-border);\n --color-sidebar-search-icon: var(--color-foreground-muted);\n\n // Table of Contents (right)\n --color-toc-background: var(--color-background-primary);\n --color-toc-title-text: var(--color-foreground-muted);\n --color-toc-item-text: var(--color-foreground-secondary);\n --color-toc-item-text--hover: var(--color-foreground-primary);\n --color-toc-item-text--active: var(--color-brand-primary);\n\n // Actual page contents\n --color-content-foreground: var(--color-foreground-primary);\n --color-content-background: transparent;\n\n // Links\n --color-link: var(--color-brand-content);\n --color-link--hover: var(--color-brand-content);\n --color-link-underline: var(--color-background-border);\n --color-link-underline--hover: var(--color-foreground-border);\n\n // Farama\n --color-farama-header-background-hover: rgba(0, 0, 0, 0.05);\n\n --color-farama-button-background: rgb(0 0 0 / 10%);\n --color-farama-button-background-hover: rgb(0 0 0 / 20%);\n\n}\n\n@mixin colors-dark {\n --color-problematic: #ee5151;\n\n // Base Colors\n --color-foreground-primary: #ffffffcc; // for main text and headings\n --color-foreground-secondary: #9ca0a5; // for secondary text\n --color-foreground-muted: #81868d; // for muted text\n --color-foreground-border: #666666; // for content borders\n\n --color-background-primary: #131416; // for content\n --color-background-secondary: #1a1c1e; // for navigation + ToC\n --color-background-hover: #1e2124ff; // for navigation-item hover\n --color-background-hover--transparent: #1e212400;\n --color-background-border: #303335; // for UI borders\n --color-background-item: #444; // for \"background\" items (eg: copybutton)\n\n // Announcements\n --color-announcement-background: #000000dd;\n --color-announcement-text: #eeebee;\n\n // Brand colors\n --color-brand-primary: #0f4a65;\n --color-brand-content: #419fe2;\n --color-brand-secondary: #d3aa71;\n\n // Highlighted text (search)\n --color-highlighted-background: #083563;\n\n // GUI Labels\n --color-guilabel-background: #08356380;\n --color-guilabel-border: #13395f80;\n\n // API documentation\n --color-api-keyword: var(--color-foreground-secondary);\n --color-highlight-on-target: #333300;\n\n // Admonitions\n --color-admonition-background: #18181a;\n\n // Cards\n --color-card-border: var(--color-background-secondary);\n --color-card-background: #18181a;\n --color-card-marginals-background: var(--color-background-hover);\n\n // API\n --color-api-background: #202020;\n\n // Farama\n --color-farama-header-background-hover: rgba(255, 255, 255, 0.1);\n\n --color-farama-button-background: rgb(255 255 255 / 10%);\n --color-farama-button-background-hover: rgb(255 255 255 / 20%);\n}\n","// This file contains the styling for making the content throughout the page,\n// including fonts, paragraphs, headings and spacing among these elements.\n\nbody\n font-family: var(--font-stack)\npre,\ncode,\nkbd,\nsamp\n font-family: var(--font-stack--monospace)\n\n// Make fonts look slightly nicer.\nbody\n -webkit-font-smoothing: antialiased\n -moz-osx-font-smoothing: grayscale\n\n// Line height from Bootstrap 4.1\narticle\n line-height: 1.5\n\n//\n// Headings\n//\nh1,\nh2,\nh3,\nh4,\nh5,\nh6\n line-height: 1.25\n font-weight: bold\n\n border-radius: 0.5rem\n margin-top: 0.5rem\n margin-bottom: 1.0rem\n margin-left: -0.5rem\n margin-right: -0.5rem\n padding-left: 0.5rem\n padding-right: 0.5rem\n\n + p\n margin-top: 0\n\nh1\n font-size: 2.5em\n margin-top: 1.85rem\nh2\n font-size: 2em\n margin-top: 1.85rem\nh3\n font-size: 1.5em\nh4\n font-size: 1.25em\nh5\n font-size: 1.125em\nh6\n font-size: 1em\n\nsmall\n opacity: 75%\n font-size: 80%\n\n// Paragraph\np\n margin-top: 0.5rem\n margin-bottom: 0.75rem\n\n// Horizontal rules\nhr.docutils\n height: 1px\n padding: 0\n margin: 2rem 0\n background-color: var(--color-background-border)\n border: 0\n\n.centered\n text-align: center\n\n// Links\na\n text-decoration: underline\n\n color: var(--color-link)\n text-decoration-color: var(--color-link-underline)\n\n &:hover\n color: var(--color-link--hover)\n text-decoration-color: var(--color-link-underline--hover)\n &.muted-link\n color: inherit\n &:hover\n color: var(--color-brand-secondary)\n text-decoration-color: var(--color-link-underline--hover)\n","// This file contains the styles for the overall layouting of the documentation\n// skeleton, including the responsive changes as well as sidebar toggles.\n//\n// This is implemented as a mobile-last design, which isn't ideal, but it is\n// reasonably good-enough and I got pretty tired by the time I'd finished this\n// to move the rules around to fix this. Shouldn't take more than 3-4 hours,\n// if you know what you're doing tho.\n\n// HACK: Not all browsers account for the scrollbar width in media queries.\n// This results in horizontal scrollbars in the breakpoint where we go\n// from displaying everything to hiding the ToC. We accomodate for this by\n// adding a bit of padding to the TOC drawer, disabling the horizontal\n// scrollbar and allowing the scrollbars to cover the padding.\n// https://www.456bereastreet.com/archive/201301/media_query_width_and_vertical_scrollbars/\n\n// HACK: Always having the scrollbar visible, prevents certain browsers from\n// causing the content to stutter horizontally between taller-than-viewport and\n// not-taller-than-viewport pages.\n\nhtml\n overflow-x: hidden\n overflow-y: scroll\n scroll-behavior: smooth\n\n.sidebar-scroll, .toc-scroll, article[role=main] *\n // Override Firefox scrollbar style\n scrollbar-width: thin\n scrollbar-color: var(--color-foreground-border) transparent\n\n // Override Chrome scrollbar styles\n &::-webkit-scrollbar\n width: 0.25rem\n height: 0.25rem\n &::-webkit-scrollbar-thumb\n background-color: var(--color-foreground-border)\n border-radius: 0.125rem\n\n//\n// Overalls\n//\nhtml,\nbody\n height: 100%\n color: var(--color-foreground-primary)\n background: var(--color-background-primary)\n\narticle\n color: var(--color-content-foreground)\n background: var(--color-content-background)\n overflow-wrap: break-word\n\n.article-container\n position: relative\n\n.page\n display: flex\n // fill the viewport for pages with little content.\n min-height: 100%\n box-sizing: border-box\n\n.mobile-header\n width: 100%\n height: var(--header-height)\n background-color: var(--color-header-background)\n color: var(--color-header-text)\n border-bottom: 1px solid var(--color-header-border)\n\n // Looks like sub-script/super-script have this, and we need this to\n // be \"on top\" of those.\n z-index: 10\n\n // We don't show the header on large screens.\n display: none\n\n // Add shadow when scrolled\n &.scrolled\n border-bottom: none\n box-shadow: 0 0 0.2rem rgba(0, 0, 0, 0.1), 0 0.2rem 0.4rem rgba(0, 0, 0, 0.2)\n\n .header-center\n a\n color: var(--color-header-text)\n text-decoration: none\n\n.main-container\n padding-top: var(--farama-header-height)\n display: flex\n flex-direction: column\n flex: 1\n\n.main\n display: flex\n flex: 1\n\n// Sidebar (left) also covers the entire left portion of screen.\n.sidebar-drawer\n box-sizing: border-box\n\n border-right: 1px solid var(--color-sidebar-background-border)\n background: var(--color-sidebar-background)\n\n display: flex\n justify-content: flex-end\n // These next two lines took me two days to figure out.\n width: calc((100% - #{$full-width}) / 2 + #{$sidebar-width})\n min-width: $sidebar-width\n\n// Scroll-along sidebars\n.sidebar-container,\n.toc-drawer\n box-sizing: border-box\n width: $sidebar-width\n\n.toc-drawer\n background: var(--color-toc-background)\n // See HACK described on top of this document\n padding-right: 1rem\n\n.sidebar-sticky,\n.toc-sticky\n position: sticky\n top: 0\n height: min(100%, 100vh)\n height: 100vh\n display: flex\n flex-direction: column\n\n.sidebar-scroll,\n.toc-scroll\n flex-grow: 1\n flex-shrink: 1\n\n overflow: auto\n scroll-behavior: smooth\n\n// Central items.\n.content\n padding: 0 $content-padding\n width: $content-width\n\n display: flex\n flex-direction: column\n justify-content: space-between\n\n.icon\n display: inline-block\n height: 1rem\n width: 1rem\n svg\n width: 100%\n height: 100%\n\n//\n// Accommodate announcement banner\n//\n.announcement\n background-color: var(--color-announcement-background)\n color: var(--color-announcement-text)\n\n height: var(--header-height)\n display: flex\n align-items: center\n overflow-x: auto\n & + .page\n min-height: calc(100% - var(--header-height))\n\n.announcement-content\n box-sizing: border-box\n padding: 0.5rem\n min-width: 100%\n white-space: nowrap\n text-align: center\n\n a\n color: var(--color-announcement-text)\n text-decoration-color: var(--color-announcement-text)\n\n &:hover\n color: var(--color-announcement-text)\n text-decoration-color: var(--color-link--hover)\n\n////////////////////////////////////////////////////////////////////////////////\n// Toggles for theme\n////////////////////////////////////////////////////////////////////////////////\n.no-js .theme-toggle-container // don't show theme toggle if there's no JS\n display: none\n\n.theme-toggle-container\n vertical-align: middle\n\n.theme-toggle\n cursor: pointer\n border: none\n padding: 0\n background: transparent\n\n.theme-toggle svg\n vertical-align: middle\n height: 1.2rem\n width: 1.2rem\n color: var(--color-foreground-primary)\n display: none\n\n &:hover\n color: var(--color-brand-secondary)\n\n.theme-toggle-header\n float: left\n padding: 1rem 0.5rem\n\n////////////////////////////////////////////////////////////////////////////////\n// Toggles for elements\n////////////////////////////////////////////////////////////////////////////////\n.toc-overlay-icon, .nav-overlay-icon\n display: none\n cursor: pointer\n\n .icon\n color: var(--color-foreground-primary)\n height: 1.2rem\n width: 1.2rem\n\n &:hover\n color: var(--color-brand-secondary)\n\n.toc-header-icon, .nav-overlay-icon\n // for when we set display: flex\n justify-content: center\n align-items: center\n\n.toc-content-icon\n height: 1.3rem\n width: 1.3rem\n\n.content-icon-container\n position: absolute\n right: 0\n display: flex\n margin-top: 1.5rem\n margin-left: 1rem\n margin-bottom: 1rem\n gap: 0.5rem\n\n .edit-this-page svg\n color: inherit\n height: 1.2rem\n width: 1.2rem\n\n.sidebar-toggle\n position: absolute\n display: none\n// \n.sidebar-toggle[name=\"__toc\"]\n left: 20px\n.sidebar-toggle:checked\n left: 40px\n// \n\n.overlay\n position: fixed\n top: 0\n width: 0\n height: 0\n\n transition: width 0ms, height 0ms, opacity 250ms ease-out\n\n opacity: 0\n background-color: rgba(0, 0, 0, 0.54)\n.sidebar-overlay\n z-index: 20\n.toc-overlay\n z-index: 40\n\n// Keep things on top and smooth.\n.sidebar-drawer\n z-index: 30\n transition: left 250ms ease-in-out\n.toc-drawer\n z-index: 50\n transition: right 250ms ease-in-out\n\n// Show the Sidebar\n#__navigation:checked\n & ~ .sidebar-overlay\n width: 100%\n height: 100%\n opacity: 1\n & ~ .page\n .sidebar-drawer\n top: 0\n left: 0\n // Show the toc sidebar\n#__toc:checked\n & ~ .toc-overlay\n width: 100%\n height: 100%\n opacity: 1\n & ~ .page\n .toc-drawer\n top: 0\n right: 0\n\n////////////////////////////////////////////////////////////////////////////////\n// Back to top\n////////////////////////////////////////////////////////////////////////////////\n.back-to-top\n text-decoration: none\n\n display: none\n position: fixed\n left: 0\n top: 1rem\n padding: 0.5rem\n padding-right: 0.75rem\n border-radius: 1rem\n font-size: 0.8125rem\n\n background: var(--color-background-primary)\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), #6b728080 0px 0px 1px 0px\n\n z-index: 10\n\n margin-left: 50%\n transform: translateX(-50%)\n svg\n height: 1rem\n width: 1rem\n fill: currentColor\n display: inline-block\n\n span\n margin-left: 0.25rem\n\n .show-back-to-top &\n display: flex\n align-items: center\n\n////////////////////////////////////////////////////////////////////////////////\n// Responsive layouting\n////////////////////////////////////////////////////////////////////////////////\n// Make things a bit bigger on bigger screens.\n@media (min-width: $full-width + $sidebar-width)\n html\n font-size: 110%\n\n@media (max-width: $full-width)\n // Collapse \"toc\" into the icon.\n .toc-content-icon\n display: flex\n .toc-drawer\n position: fixed\n height: 100vh\n top: 0\n right: -$sidebar-width\n border-left: 1px solid var(--color-background-muted)\n .toc-tree\n border-left: none\n font-size: var(--toc-font-size--mobile)\n\n // Accomodate for a changed content width.\n .sidebar-drawer\n width: calc((100% - #{$full-width - $sidebar-width}) / 2 + #{$sidebar-width})\n\n@media (max-width: $full-width - $sidebar-width)\n .farama-header\n position: fixed !important\n top: 0\n\n .farama-header__left--mobile\n display: flex !important\n z-index: 2\n\n .farama-header__center--mobile\n position: absolute\n height: 100%\n left: 0\n right: 0\n justify-content: center\n z-index: 1\n\n .toc-title-container\n padding-top: 65px !important\n\n // Collapse \"navigation\".\n .nav-overlay-icon\n display: flex\n .sidebar-drawer\n position: fixed\n height: 100vh\n width: $sidebar-width\n\n top: 0\n left: -$sidebar-width\n\n // Swap which icon is visible.\n .toc-header-icon\n display: flex\n .theme-toggle-header\n display: block\n\n // Show the header.\n .mobile-header\n position: sticky\n top: 0\n display: flex\n justify-content: space-between\n align-items: center\n\n .header-left,\n .header-right\n display: flex\n height: var(--header-height)\n padding: 0 var(--header-padding)\n label\n height: 100%\n width: 100%\n user-select: none\n\n .nav-overlay-icon .icon,\n .theme-toggle svg\n height: 1.25rem\n width: 1.25rem\n\n // Add a scroll margin for the content\n :target\n scroll-margin-top: var(--header-height)\n\n // Show back-to-top below the header\n .back-to-top\n top: calc(var(--header-height) + 0.5rem)\n\n // Center the page, and accommodate for the header.\n .page\n flex-direction: column\n justify-content: center\n .content\n margin-left: auto\n margin-right: auto\n\n .farama-donate-banner\n margin-left: auto\n margin-right: auto\n\n@media (max-width: $content-width + 2* $content-padding)\n // Content should respect window limits.\n .content\n width: 100%\n overflow-x: auto\n\n@media (max-width: $content-width)\n .farama-donate-banner\n padding: $content-padding--small $content-padding--small !important\n\n .content\n padding: 0 $content-padding--small\n // Don't float sidebars to the right.\n article aside.sidebar\n float: none\n width: 100%\n margin: 1rem 0\n","//\n// The design here is strongly inspired by mkdocs-material.\n.admonition, .topic\n margin: 1rem auto\n padding: 0 0.5rem 0.5rem 0.5rem\n\n background: var(--color-admonition-background)\n\n border-radius: 0.2rem\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), 0 0 0.0625rem rgba(0, 0, 0, 0.1)\n\n font-size: var(--admonition-font-size)\n\n overflow: hidden\n page-break-inside: avoid\n\n // First element should have no margin, since the title has it.\n > :nth-child(2)\n margin-top: 0\n\n // Last item should have no margin, since we'll control that w/ padding\n > :last-child\n margin-bottom: 0\n\n.admonition p.admonition-title,\np.topic-title\n position: relative\n margin: 0 -0.5rem 0.5rem\n padding-left: 2rem\n padding-right: .5rem\n padding-top: .4rem\n padding-bottom: .4rem\n\n font-weight: 500\n font-size: var(--admonition-title-font-size)\n line-height: 1.3\n\n // Our fancy icon\n &::before\n content: \"\"\n position: absolute\n left: 0.5rem\n width: 1rem\n height: 1rem\n\n// Default styles\np.admonition-title\n background-color: var(--color-admonition-title-background)\n &::before\n background-color: var(--color-admonition-title)\n mask-image: var(--icon-admonition-default)\n mask-repeat: no-repeat\n\np.topic-title\n background-color: var(--color-topic-title-background)\n &::before\n background-color: var(--color-topic-title)\n mask-image: var(--icon-topic-default)\n mask-repeat: no-repeat\n\n//\n// Variants\n//\n.admonition\n border-left: 0.2rem solid var(--color-admonition-title)\n\n @each $type, $value in $admonitions\n &.#{$type}\n border-left-color: var(--color-admonition-title--#{$type})\n > .admonition-title\n background-color: var(--color-admonition-title-background--#{$type})\n &::before\n background-color: var(--color-admonition-title--#{$type})\n mask-image: var(--icon-#{nth($value, 2)})\n\n.admonition-todo > .admonition-title\n text-transform: uppercase\n","// This file stylizes the API documentation (stuff generated by autodoc). It's\n// deeply nested due to how autodoc structures the HTML without enough classes\n// to select the relevant items.\n\n// API docs!\ndl[class]:not(.option-list):not(.field-list):not(.footnote):not(.glossary):not(.simple)\n // Tweak the spacing of all the things!\n dd\n margin-left: 2rem\n > :first-child\n margin-top: 0.125rem\n > :last-child\n margin-bottom: 0.75rem\n\n // This is used for the arguments\n .field-list\n margin-bottom: 0.75rem\n\n // \"Headings\" (like \"Parameters\" and \"Return\")\n > dt\n text-transform: uppercase\n font-size: var(--font-size--small)\n\n dd:empty\n margin-bottom: 0.5rem\n dd > ul\n margin-left: -1.2rem\n > li\n > p:nth-child(2)\n margin-top: 0\n // When the last-empty-paragraph follows a paragraph, it doesn't need\n // to augument the existing spacing.\n > p + p:last-child:empty\n margin-top: 0\n margin-bottom: 0\n\n // Colorize the elements\n > dt\n color: var(--color-api-overall)\n\n.sig:not(.sig-inline)\n font-weight: bold\n\n font-size: var(--api-font-size)\n font-family: var(--font-stack--monospace)\n\n margin-left: -0.5rem\n margin-right: -0.5rem\n padding-top: 0.5rem\n padding-bottom: 0.5rem\n padding-right: 0.5rem\n\n // These are intentionally em, to properly match the font size.\n padding-left: 3em\n text-indent: -2.5em\n\n border-radius: 0.25rem\n border-top: 5px solid var(--color-brand-primary)\n\n background: var(--color-api-background)\n transition: background 100ms ease-out\n\n &:hover\n background: var(--color-api-background-hover)\n\n // adjust the size of the [source] link on the right.\n a.reference\n .viewcode-link\n font-weight: normal\n width: 3.5rem\n\nem.property\n font-style: normal\n &:first-child\n color: var(--color-api-keyword)\n.sig-name\n color: var(--color-api-name)\n.sig-prename\n font-weight: normal\n color: var(--color-api-pre-name)\n.sig-paren\n color: var(--color-api-paren)\n.sig-param\n font-style: normal\n\n.versionmodified\n font-style: italic\ndiv.versionadded, div.versionchanged, div.deprecated\n p\n margin-top: 0.125rem\n margin-bottom: 0.125rem\n\n// Align the [docs] and [source] to the right.\n.viewcode-link, .viewcode-back\n float: right\n text-align: right\n",".line-block\n margin-top: 0.5rem\n margin-bottom: 0.75rem\n .line-block\n margin-top: 0rem\n margin-bottom: 0rem\n padding-left: 1rem\n","// Captions\narticle p.caption,\ntable > caption,\n.code-block-caption\n font-size: var(--font-size--small)\n text-align: center\n\n// Caption above a TOCTree\n.toctree-wrapper.compound\n .caption, :not(.caption) > .caption-text\n font-size: var(--font-size--small)\n text-transform: uppercase\n\n text-align: initial\n margin-bottom: 0\n\n > ul\n margin-top: 0\n margin-bottom: 0\n","// Inline code\ncode.literal, .sig-inline\n background: var(--color-inline-code-background)\n border-radius: 0.2em\n // Make the font smaller, and use padding to recover.\n font-size: var(--font-size--small--2)\n padding: 0.1em 0.2em\n\n pre.literal-block &\n font-size: inherit\n padding: 0\n\n p &\n border: 1px solid var(--color-background-border)\n\n.sig-inline\n font-family: var(--font-stack--monospace)\n\n// Code and Literal Blocks\n$code-spacing-vertical: 0.625rem\n$code-spacing-horizontal: 0.875rem\n\n// Wraps every literal block + line numbers.\ndiv[class*=\" highlight-\"],\ndiv[class^=\"highlight-\"]\n margin: 1em 0\n display: flex\n\n .table-wrapper\n margin: 0\n padding: 0\n\npre\n margin: 0\n padding: 0\n overflow: auto\n\n // Needed to have more specificity than pygments' \"pre\" selector. :(\n article[role=\"main\"] .highlight &\n line-height: 1.5\n\n &.literal-block,\n .highlight &\n font-size: var(--code-font-size)\n padding: $code-spacing-vertical $code-spacing-horizontal\n\n // Make it look like all the other blocks.\n &.literal-block\n margin-top: 1rem\n margin-bottom: 1rem\n\n border-radius: 0.2rem\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n\n// All code is always contained in this.\n.highlight\n width: 100%\n border-radius: 0.2rem\n\n // Make line numbers and prompts un-selectable.\n .gp, span.linenos\n user-select: none\n pointer-events: none\n\n // Expand the line-highlighting.\n .hll\n display: block\n margin-left: -$code-spacing-horizontal\n margin-right: -$code-spacing-horizontal\n padding-left: $code-spacing-horizontal\n padding-right: $code-spacing-horizontal\n\n/* Make code block captions be nicely integrated */\n.code-block-caption\n display: flex\n padding: $code-spacing-vertical $code-spacing-horizontal\n\n border-radius: 0.25rem\n border-bottom-left-radius: 0\n border-bottom-right-radius: 0\n font-weight: 300\n border-bottom: 1px solid\n\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n border-color: var(--color-background-border)\n\n + div[class]\n margin-top: 0\n pre\n border-top-left-radius: 0\n border-top-right-radius: 0\n\n// When `html_codeblock_linenos_style` is table.\n.highlighttable\n width: 100%\n display: block\n tbody\n display: block\n\n tr\n display: flex\n\n // Line numbers\n td.linenos\n background-color: var(--color-code-background)\n color: var(--color-code-foreground)\n padding: $code-spacing-vertical $code-spacing-horizontal\n padding-right: 0\n border-top-left-radius: 0.2rem\n border-bottom-left-radius: 0.2rem\n\n .linenodiv\n padding-right: $code-spacing-horizontal\n font-size: var(--code-font-size)\n box-shadow: -0.0625rem 0 var(--color-foreground-border) inset\n\n // Actual code\n td.code\n padding: 0\n display: block\n flex: 1\n overflow: hidden\n\n .highlight\n border-top-left-radius: 0\n border-bottom-left-radius: 0\n\n// When `html_codeblock_linenos_style` is inline.\n.highlight\n span.linenos\n display: inline-block\n padding-left: 0\n padding-right: $code-spacing-horizontal\n margin-right: $code-spacing-horizontal\n box-shadow: -0.0625rem 0 var(--color-foreground-border) inset\n","// Inline Footnote Reference\n.footnote-reference\n font-size: var(--font-size--small--4)\n vertical-align: super\n\n// Definition list, listing the content of each note.\n// docutils <= 0.17\ndl.footnote.brackets\n font-size: var(--font-size--small)\n color: var(--color-foreground-secondary)\n\n display: grid\n grid-template-columns: max-content auto\n dt\n margin: 0\n > .fn-backref\n margin-left: 0.25rem\n\n &:after\n content: \":\"\n\n .brackets\n &:before\n content: \"[\"\n &:after\n content: \"]\"\n\n dd\n margin: 0\n padding: 0 1rem\n\n// docutils >= 0.18\naside.footnote\n font-size: var(--font-size--small)\n color: var(--color-foreground-secondary)\n\naside.footnote > span,\ndiv.citation > span\n float: left\n font-weight: 500\n padding-right: 0.25rem\n\naside.footnote > p,\ndiv.citation > p\n margin-left: 2rem\n","//\n// Figures\n//\nimg\n box-sizing: border-box\n max-width: 100%\n height: auto\n\narticle\n figure, .figure\n border-radius: 0.2rem\n\n margin: 0\n :last-child\n margin-bottom: 0\n\n .align-left\n float: left\n clear: left\n margin: 0 1rem 1rem\n\n .align-right\n float: right\n clear: right\n margin: 0 1rem 1rem\n\n .align-default,\n .align-center\n display: block\n text-align: center\n margin-left: auto\n margin-right: auto\n\n // WELL, table needs to be stylised like a table.\n table.align-default\n display: table\n text-align: initial\n",".genindex-jumpbox, .domainindex-jumpbox\n border-top: 1px solid var(--color-background-border)\n border-bottom: 1px solid var(--color-background-border)\n padding: 0.25rem\n\n.genindex-section, .domainindex-section\n h2\n margin-top: 0.75rem\n margin-bottom: 0.5rem\n ul\n margin-top: 0\n margin-bottom: 0\n","ul,\nol\n padding-left: 1.2rem\n\n // Space lists out like paragraphs\n margin-top: 1rem\n margin-bottom: 1rem\n // reduce margins within li.\n li\n > p:first-child\n margin-top: 0.25rem\n margin-bottom: 0.25rem\n\n > p:last-child\n margin-top: 0.25rem\n\n > ul,\n > ol\n margin-top: 0.5rem\n margin-bottom: 0.5rem\n\nol\n &.arabic\n list-style: decimal\n &.loweralpha\n list-style: lower-alpha\n &.upperalpha\n list-style: upper-alpha\n &.lowerroman\n list-style: lower-roman\n &.upperroman\n list-style: upper-roman\n\n// Don't space lists out when they're \"simple\" or in a `.. toctree::`\n.simple,\n.toctree-wrapper\n li\n > ul,\n > ol\n margin-top: 0\n margin-bottom: 0\n\n// Definition Lists\n.field-list,\n.option-list,\ndl:not([class]),\ndl.simple,\ndl.footnote,\ndl.glossary\n dt\n font-weight: 500\n margin-top: 0.25rem\n + dt\n margin-top: 0\n\n .classifier::before\n content: \":\"\n margin-left: 0.2rem\n margin-right: 0.2rem\n\n dd\n > p:first-child,\n ul\n margin-top: 0.125rem\n\n ul\n margin-bottom: 0.125rem\n",".math-wrapper\n width: 100%\n overflow-x: auto\n\ndiv.math\n position: relative\n text-align: center\n\n .headerlink,\n &:focus .headerlink\n display: none\n\n &:hover .headerlink\n display: inline-block\n\n span.eqno\n position: absolute\n right: 0.5rem\n top: 50%\n transform: translate(0, -50%)\n z-index: 1\n","// Abbreviations\nabbr[title]\n cursor: help\n\n// \"Problematic\" content, as identified by Sphinx\n.problematic\n color: var(--color-problematic)\n\n// Keyboard / Mouse \"instructions\"\nkbd:not(.compound)\n margin: 0 0.2rem\n padding: 0 0.2rem\n border-radius: 0.2rem\n border: 1px solid var(--color-foreground-border)\n color: var(--color-foreground-primary)\n vertical-align: text-bottom\n\n font-size: var(--font-size--small--3)\n display: inline-block\n\n box-shadow: 0 0.0625rem 0 rgba(0, 0, 0, 0.2), inset 0 0 0 0.125rem var(--color-background-primary)\n\n background-color: var(--color-background-secondary)\n\n// Blockquote\nblockquote\n border-left: 4px solid var(--color-background-border)\n background: var(--color-background-secondary)\n\n margin-left: 0\n margin-right: 0\n padding: 0.5rem 1rem\n\n .attribution\n font-weight: 600\n text-align: right\n\n &.pull-quote,\n &.highlights\n font-size: 1.25em\n\n &.epigraph,\n &.pull-quote\n border-left-width: 0\n border-radius: 0.5rem\n\n &.highlights\n border-left-width: 0\n background: transparent\n\n// Center align embedded-in-text images\np .reference img\n vertical-align: middle\n","p.rubric\n line-height: 1.25\n font-weight: bold\n font-size: 1.125em\n\n // For Numpy-style documentation that's got rubrics within it.\n // https://github.com/pradyunsg/furo/discussions/505\n dd &\n line-height: inherit\n font-weight: inherit\n\n font-size: var(--font-size--small)\n text-transform: uppercase\n","article .sidebar\n float: right\n clear: right\n width: 30%\n\n margin-left: 1rem\n margin-right: 0\n\n border-radius: 0.2rem\n background-color: var(--color-background-secondary)\n border: var(--color-background-border) 1px solid\n\n > *\n padding-left: 1rem\n padding-right: 1rem\n\n > ul, > ol // lists need additional padding, because bullets.\n padding-left: 2.2rem\n\n .sidebar-title\n margin: 0\n padding: 0.5rem 1rem\n border-bottom: var(--color-background-border) 1px solid\n\n font-weight: 500\n\n// TODO: subtitle\n// TODO: dedicated variables?\n",".table-wrapper\n width: 100%\n overflow-x: auto\n margin-top: 1rem\n margin-bottom: 0.5rem\n padding: 0.2rem 0.2rem 0.75rem\n\ntable.docutils\n border-radius: 0.2rem\n border-spacing: 0\n border-collapse: collapse\n\n box-shadow: 0 0.2rem 0.5rem rgba(0, 0, 0, 0.05), 0 0 0.0625rem rgba(0, 0, 0, 0.1)\n\n th\n background: var(--color-table-header-background)\n\n td,\n th\n // Space things out properly\n padding: 0 0.25rem\n\n // Get the borders looking just-right.\n border-left: 1px solid var(--color-table-border)\n border-right: 1px solid var(--color-table-border)\n border-bottom: 1px solid var(--color-table-border)\n\n p\n margin: 0.25rem\n\n &:first-child\n border-left: none\n &:last-child\n border-right: none\n\n // MyST-parser tables set these classes for control of column alignment\n &.text-left\n text-align: left\n &.text-right\n text-align: right\n &.text-center\n text-align: center\n",":target\n scroll-margin-top: 0.5rem\n\n@media (max-width: $full-width - $sidebar-width)\n :target\n scroll-margin-top: calc(0.5rem + var(--header-height))\n\n // When a heading is selected\n section > span:target\n scroll-margin-top: calc(0.8rem + var(--header-height))\n\n// Permalinks\n.headerlink\n font-weight: 100\n user-select: none\n\nh1,\nh2,\nh3,\nh4,\nh5,\nh6,\ndl dt,\np.caption,\nfigcaption p,\ntable > caption,\n.code-block-caption\n > .headerlink\n margin-left: 0.5rem\n visibility: hidden\n &:hover > .headerlink\n visibility: visible\n\n // Don't change to link-like, if someone adds the contents directive.\n > .toc-backref\n color: inherit\n text-decoration-line: none\n\n// Figure and table captions are special.\nfigure:hover > figcaption > p > .headerlink,\ntable:hover > caption > .headerlink\n visibility: visible\n\n:target >, // Regular section[id] style anchors\nspan:target ~ // Non-regular span[id] style \"extra\" anchors\n h1,\n h2,\n h3,\n h4,\n h5,\n h6\n &:nth-of-type(1)\n background-color: var(--color-highlight-on-target)\n // .headerlink\n // visibility: visible\n code.literal\n background-color: transparent\n\ntable:target > caption,\nfigure:target\n background-color: var(--color-highlight-on-target)\n\n// Inline page contents\n.this-will-duplicate-information-and-it-is-still-useful-here li :target\n background-color: var(--color-highlight-on-target)\n\n// Code block permalinks\n.literal-block-wrapper:target .code-block-caption\n background-color: var(--color-highlight-on-target)\n\n// When a definition list item is selected\n//\n// There isn't really an alternative to !important here, due to the\n// high-specificity of API documentation's selector.\ndt:target\n background-color: var(--color-highlight-on-target) !important\n\n// When a footnote reference is selected\n.footnote > dt:target + dd,\n.footnote-reference:target\n background-color: var(--color-highlight-on-target)\n",".guilabel\n background-color: var(--color-guilabel-background)\n border: 1px solid var(--color-guilabel-border)\n color: var(--color-guilabel-text)\n\n padding: 0 0.3em\n border-radius: 0.5em\n font-size: 0.9em\n","// This file contains the styles used for stylizing the footer that's shown\n// below the content.\n\nfooter\n font-size: var(--font-size--small)\n display: flex\n flex-direction: column\n\n margin-top: 2rem\n\n// Bottom of page information\n.bottom-of-page\n display: flex\n align-items: center\n justify-content: space-between\n\n margin-top: 1rem\n padding-top: 1rem\n padding-bottom: 1rem\n\n color: var(--color-foreground-secondary)\n border-top: 1px solid var(--color-background-border)\n\n line-height: 1.5\n\n @media (max-width: $content-width)\n text-align: center\n flex-direction: column-reverse\n gap: 0.25rem\n\n .left-details\n font-size: var(--font-size--small)\n\n .right-details\n display: flex\n flex-direction: column\n gap: 0.25rem\n text-align: right\n\n .icons\n display: flex\n justify-content: flex-end\n gap: 0.25rem\n font-size: 1rem\n\n a\n text-decoration: none\n\n svg,\n img\n font-size: 1.5rem\n height: 1em\n width: 1em\n\n// Next/Prev page information\n.related-pages\n a\n display: flex\n align-items: center\n\n text-decoration: none\n &:hover .page-info .title\n text-decoration: underline\n color: var(--color-link)\n text-decoration-color: var(--color-link-underline)\n\n svg.furo-related-icon,\n svg.furo-related-icon > use\n flex-shrink: 0\n\n color: var(--color-foreground-border)\n\n width: 1.25rem\n height: 1.25rem\n margin: 0 0.5rem\n\n &.next-page\n max-width: 50%\n\n float: right\n clear: right\n text-align: right\n\n &.prev-page\n max-width: 50%\n\n float: left\n clear: left\n\n svg\n transform: rotate(180deg)\n\n.page-info\n display: flex\n flex-direction: column\n overflow-wrap: anywhere\n\n .next-page &\n align-items: flex-end\n\n .context\n display: flex\n align-items: center\n\n padding-bottom: 0.1rem\n\n color: var(--color-foreground-muted)\n font-size: var(--font-size--small)\n text-decoration: none\n","// This file contains the styles for the contents of the left sidebar, which\n// contains the navigation tree, logo, search etc.\n\n////////////////////////////////////////////////////////////////////////////////\n// Brand on top of the scrollable tree.\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-brand\n display: flex\n flex-direction: column\n flex-shrink: 0\n\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n text-decoration: none\n\n.sidebar-brand-text\n color: var(--color-sidebar-brand-text)\n overflow-wrap: break-word\n margin: var(--sidebar-item-spacing-vertical) 0\n font-size: 1.5rem\n\n.sidebar-logo-container\n margin: var(--sidebar-item-spacing-vertical) 0\n\n.sidebar-logo\n margin: 0 auto\n display: block\n max-width: 100%\n\n////////////////////////////////////////////////////////////////////////////////\n// Search\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-search-container\n display: flex\n align-items: center\n margin: var(--sidebar-search-space-above) var(--sidebar-search-space-lateral) 0 var(--sidebar-search-space-lateral)\n position: relative\n background: var(--color-sidebar-search-background)\n transition: 0.2s background ease\n\n &:hover,\n &:focus-within\n background: var(--color-sidebar-search-background--focus)\n\n &::before\n content: \"\"\n position: absolute\n left: var(--sidebar-item-spacing-horizontal)\n width: var(--sidebar-search-icon-size)\n height: var(--sidebar-search-icon-size)\n\n background-color: var(--color-sidebar-search-icon)\n -webkit-mask-image: var(--icon-search)\n mask-image: var(--icon-search)\n\n.sidebar-search-container\n border-radius: var(--sidebar-search-border-radius)\n\n.sidebar-search\n box-sizing: border-box\n\n border: none\n border: 1px solid var(--color-sidebar-search-border)\n border-radius: var(--sidebar-search-border-radius)\n\n padding-top: var(--sidebar-search-input-spacing-vertical)\n padding-bottom: var(--sidebar-search-input-spacing-vertical)\n padding-right: var(--sidebar-search-input-spacing-horizontal)\n padding-left: calc(var(--sidebar-item-spacing-horizontal) + var(--sidebar-search-input-spacing-horizontal) + var(--sidebar-search-icon-size))\n\n width: 100%\n\n color: var(--color-sidebar-search-foreground)\n background: transparent\n z-index: 10\n\n &:focus\n outline: none\n\n &::placeholder\n font-size: var(--sidebar-search-input-font-size)\n\n//\n// Hide Search Matches link\n//\n#searchbox .highlight-link\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal) 0\n margin: 0\n text-align: center\n\n a\n color: var(--color-sidebar-search-icon)\n font-size: var(--font-size--small--2)\n\n////////////////////////////////////////////////////////////////////////////////\n// Structure/Skeleton of the navigation tree (left)\n////////////////////////////////////////////////////////////////////////////////\n.sidebar-tree\n font-size: var(--sidebar-item-font-size)\n margin-top: var(--sidebar-tree-space-above)\n margin-bottom: var(--sidebar-item-spacing-vertical)\n margin-left: var(--sidebar-tree-space-horizontal)\n margin-right: var(--sidebar-tree-space-horizontal)\n\n ul\n padding: 0\n margin-top: 0\n margin-bottom: 0\n\n display: flex\n flex-direction: column\n\n list-style: none\n\n li\n position: relative\n margin: 0\n\n > ul\n margin-left: var(--sidebar-item-spacing-horizontal)\n\n .icon\n color: var(--color-sidebar-link-text)\n\n .reference\n box-sizing: border-box\n color: var(--color-sidebar-link-text)\n border-radius: var(--sidebar-item-border-radius)\n\n // Fill the parent.\n display: inline-block\n line-height: var(--sidebar-item-line-height)\n text-decoration: none\n\n // Don't allow long words to cause wrapping.\n overflow-wrap: anywhere\n\n height: 100%\n width: 100%\n\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n\n transition: 0.2s background ease, 0.2s color ease\n\n &:hover\n background: var(--color-sidebar-item-background--hover)\n\n // Add a nice little \"external-link\" arrow here.\n &.external::after\n content: url('data:image/svg+xml,')\n margin: 0 0.25rem\n vertical-align: middle\n color: var(--color-sidebar-link-text)\n\n // Make the current page reference bold.\n .current-page > .reference\n font-weight: bold\n\n label\n position: absolute\n top: 0\n right: 0\n height: var(--sidebar-item-height)\n width: var(--sidebar-expander-width)\n\n cursor: pointer\n user-select: none\n\n display: flex\n justify-content: center\n align-items: center\n\n border-top-right-radius: var(--sidebar-item-border-radius)\n border-bottom-right-radius: var(--sidebar-item-border-radius)\n\n .caption, :not(.caption) > .caption-text\n font-size: var(--sidebar-caption-font-size)\n color: var(--color-sidebar-caption-text)\n\n font-weight: bold\n text-transform: uppercase\n letter-spacing: .08em\n\n margin: var(--sidebar-caption-space-above) 0 0 0\n padding: var(--sidebar-item-spacing-vertical) var(--sidebar-item-spacing-horizontal)\n\n // If it has children, add a bit more padding to wrap the content to avoid\n // overlapping with the