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https://github.com/zhm-real/PathPlanning.git
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zhm-real
57 lines
998 B
Python
57 lines
998 B
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@author: huiming zhou
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"""
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x_range, y_range = 14, 6 # size of background
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def obs_map():
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"""
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Initialize obstacles' positions
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:return: map of obstacles
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"""
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obs = []
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for i in range(x_range):
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obs.append((i, 0))
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for i in range(x_range):
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obs.append((i, y_range - 1))
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for i in range(y_range):
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obs.append((0, i))
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for i in range(y_range):
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obs.append((x_range - 1, i))
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return obs
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def lose_map():
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"""
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Initialize losing states' positions
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:return: losing states
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"""
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lose = []
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for i in range(2, 12):
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lose.append((i, 1))
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return lose
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def get_reward(x_next, lose):
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"""
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calculate reward of next state
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:param x_next: next state
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:return: reward
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"""
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if x_next in lose:
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return -100 # reward : -100, for lose states
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return -1 # reward : -1, for other states
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