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PathPlanning/Model-free Control/__pycache__/env.cpython-37.pyc
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@author: huiming zhou
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Zd S) ÚEnvcCsHd|_d|_ddddg|_||_||_| ¡|_| ¡|_|  ¡|_
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dS)é)éé)éÿÿÿÿr)rr)rr) Úx_rangeÚy_rangeÚmotionsÚxIÚxGÚobs_mapÚobsÚlose_mapÚloseÚ state_spaceÚ
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stateSpace)Úselfr
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r ©rúPC:\Users\Huiming Zhou\Desktop\path planning algorithms\Model-free Control\env.pyÚ__init__s
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z Env.__init__cC|j}|j}g}xt|ƒD]}| |df¡qWx"t|ƒD]}| ||df¡q:Wxt|ƒD]}| d|f¡q^Wx"t|ƒD]}| |d|f¡q~W|S)zT
Initialize obstacles' positions
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:return: map of obstacles
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rr)rrÚrangeÚappend)rÚyr
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Úirrrr sz Env.obs_mapcCs*g}x tddƒD]}| |df¡qW|S)zT
Initialize losing states' positions
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:return: losing states
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éé r)rr)rrrrrrr(sz Env.lose_mapcCsLg}xBt|jƒD]4}x.t|jƒD] }||f|jkr | ||f¡q WqW|S)zC
generate state space
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:return: state space
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)rrrr
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r)rrrÚjrrrr4s zEnv.state_spacecCs||jkrdSdS)zk
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calculate reward of next state
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:param x_next: next state
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:return: reward
iœÿÿÿr)r)rÚx_nextrrrÚ
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get_rewardBs
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zEnv.get_rewardN)Ú__name__Ú
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__module__Ú __qualname__rr rrrrrrrrs