smarts.env.gymnasium.wrappers.metric.utils module

class smarts.env.gymnasium.wrappers.metric.utils.SlidingWindow(size: int)[source]

A sliding window which moves to the right by accepting new elements. The maximum value within the sliding window can be queried at anytime by calling the max() method.

display()[source]

Print the contents of the sliding window.

max()[source]

Returns the maximum element within the sliding window.

move(x: int | float)[source]

Moves the sliding window one step to the right by appending the new element x and discarding the oldest element on the left.

Parameters:

x (Union[int,float]) – New element input to the sliding window.

smarts.env.gymnasium.wrappers.metric.utils.add_dataclass(first: T, second: T) → T[source]

Sums the fields of two dataclass objects.

Parameters:

  • first (T) – First dataclass object.

  • second (T) – Second dataclass object.

Returns:

New summed dataclass object.

Return type:

T

smarts.env.gymnasium.wrappers.metric.utils.divide(value: int | float, divider: int | float) → float[source]

Division operation.

Parameters:

  • value (Union[int, float]) – Numerator

  • divider (Union[int, float]) – Denominator

Returns:

Numerator / Denominator

Return type:

float

smarts.env.gymnasium.wrappers.metric.utils.multiply(value: int | float, multiplier: int | float) → float[source]

Multiplication operation.

Parameters:

  • value (Union[int, float]) – Value

  • multiplier (Union[int, float]) – Multiplier

Returns:

Value x Multiplier

Return type:

float

smarts.env.gymnasium.wrappers.metric.utils.nearest_waypoint(matrix: MaskedArray, points: ndarray, radius: float = 1) → Tuple[Tuple[int, int], int | None][source]
Returns

  1. the matrix index of the nearest waypoint to the ego, which has a nearby point.

  2. the points index which is nearby the nearest waypoint to the ego.

Nearby is defined as a point within radius of a waypoint.

Parameters:

  • matrix (np.ma.MaskedArray) – Waypoints matrix.

  • points (np.ndarray) – Points matrix.

  • radius (float, optional) – Nearby radius. Defaults to 2.

Returns:

matrix index of shape (a,b) and scalar point index.

Return type:

Tuple[Tuple[int, int], Optional[int]]

smarts.env.gymnasium.wrappers.metric.utils.op_dataclass(first: T, second: int | float, op: Callable[[int | float, int | float], float]) → T[source]

Performs operation op on the fields of the source dataclass object.

Parameters:

  • first (T) – The source dataclass object.

  • second (Union[int, float]) – Value input for the operator.

  • op (Callable[[Union[int, float], Union[int, float]], float]) – Operation to be performed.

Returns:

A new dataclass object with operation performed on all of its fields.

Return type:

T