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Commit 32111074 authored by Aman Shankar Mathur's avatar Aman Shankar Mathur
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with 47 additions and 39 deletions
Assets/Resources/Prefabs/4 Lanes - T Intersection + Traffic Lights (Connected) - ( Road V2 ).prefab
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Assets/Resources/Prefabs/AICar.prefab
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Assets/Scenes/RoadSegmentation/RoadSegmentation3Training.unity
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Assets/Scripts/Program/RoadSegmentation/RoadSegmentation1_a.cs
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......@@ -27,11 +27,11 @@ public class RoadSegmentation1_a : EnvironmentProgramBaseClass
fogDensity = new VarInterval<float>(val: 0, min: 0, max: 0.3f, desc: "FOG_DENSITY");
//day
//lightIntensity = new VarInterval<float>(val: 1.75f, min: 0, max: 10);
//ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
//night
lightIntensity = new VarInterval<float>(val: 0.95f, min: 0, max: 10);
lightIntensity = new VarInterval<float>(val: 1.75f, min: 0, max: 10);
ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
//night
//lightIntensity = new VarInterval<float>(val: 0.95f, min: 0, max: 10);
//ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
color = new ProDMColor(new VarInterval<float>(val: 0.9811321f, min: 0f, max: 1f), new VarInterval<float>(val: 0.9380283f, min: 0f, max: 1f),
new VarInterval<float>(val: 0.8932f, min: 0f, max: 1f), 1f);
......@@ -59,10 +59,11 @@ public class RoadSegmentation1_a : EnvironmentProgramBaseClass
cRoad1._zone2 = Zoning.TREES;
list.Add(cRoad1);
AutonomousVehicle autonomouscar = new AutonomousVehicle(nameof(autonomouscar), cRoad1, 0.07f, LANE.PLUS_ONE, monitor: "CollisionMonitor", type: TestActorType.EGO_VEHICLE_TRAINING);
AutonomousVehicle autonomouscar = new AutonomousVehicle(nameof(autonomouscar), cRoad1, 0.07f, LANE.PLUS_ONE, type: TestActorType.EGO_VEHICLE_TRAINING);
list.Add(autonomouscar);
AIVehicle car1 = new AIVehicle(nameof(car1), cRoad1, 0.15f, LANE.MINUS_ONE, Color.blue, model: "AICar5");
list.Add(car1);
......@@ -77,6 +78,7 @@ public class RoadSegmentation1_a : EnvironmentProgramBaseClass
AIVehicle car6 = new AIVehicle(nameof(car6), cRoad1, 0.3f, LANE.MINUS_ONE, Color.blue, model: "AICar3");
list.Add(car6);
PlaceHolderForVisualizer.Visualize(list);
}
......@@ -86,10 +88,10 @@ public class RoadSegmentation1_a : EnvironmentProgramBaseClass
{
//Environment settings
//day
//ProDMVector3 lightDir = new ProDMVector3(45f, -40f, 135f);
ProDMVector3 lightDir = new ProDMVector3(45f, -40f, 135f);
//night
ProDMVector3 lightDir = new ProDMVector3(40f, 40f, 135f);
//ProDMVector3 lightDir = new ProDMVector3(40f, 40f, 135f);
LightSettings light = new LightSettings(intensity: lightIntensity, direction: lightDir, color: color, ambientIntensity: ambientIntensity);
FogSettings fog = new FogSettings(density: fogDensity);
......
Assets/Scripts/Program/RoadSegmentation/RoadSegmentation1_b.cs
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− 8
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......@@ -27,11 +27,11 @@ public class RoadSegmentation1_b : EnvironmentProgramBaseClass
fogDensity = new VarInterval<float>(val: 0, min: 0, max: 0.3f, desc: "FOG_DENSITY");
//day
//lightIntensity = new VarInterval<float>(val: 1.75f, min: 0, max: 10);
//ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
//night
lightIntensity = new VarInterval<float>(val: 0.95f, min: 0, max: 10);
lightIntensity = new VarInterval<float>(val: 1.75f, min: 0, max: 10);
ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
//night
//lightIntensity = new VarInterval<float>(val: 0.95f, min: 0, max: 10);
//ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
//PlaceHolderForVisualizer.Visualize(nameof(color), color);
ambientIntensity = new VarInterval<float>(val: 1.3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
......@@ -64,10 +64,10 @@ public class RoadSegmentation1_b : EnvironmentProgramBaseClass
cRoad1._zone2 = Zoning.TREES;
list.Add(cRoad1);
AutonomousVehicle autonomouscar = new AutonomousVehicle(nameof(autonomouscar), cRoad1, 0.07f, LANE.PLUS_ONE, monitor: "CollisionMonitor", type: TestActorType.EGO_VEHICLE_TRAINING);
list.Add(autonomouscar);
/*
AIVehicle car1 = new AIVehicle(nameof(car1), cRoad1, 0.15f, LANE.MINUS_TWO, Color.blue, model: "AICar5");
list.Add(car1);
......@@ -82,7 +82,7 @@ public class RoadSegmentation1_b : EnvironmentProgramBaseClass
AIVehicle car6 = new AIVehicle(nameof(car6), cRoad1, 0.3f, LANE.MINUS_TWO, Color.blue, model: "AICar3");
list.Add(car6);
*/
PlaceHolderForVisualizer.Visualize(list);
}
......@@ -91,10 +91,10 @@ public class RoadSegmentation1_b : EnvironmentProgramBaseClass
{
//Environment settings
//day
//ProDMVector3 lightDir = new ProDMVector3(45f, -40f, 135f);
ProDMVector3 lightDir = new ProDMVector3(45f, -40f, 135f);
//night
ProDMVector3 lightDir = new ProDMVector3(40f, 40f, 135f);
//ProDMVector3 lightDir = new ProDMVector3(40f, 40f, 135f);
LightSettings light = new LightSettings(intensity: lightIntensity, direction: lightDir, color: color, ambientIntensity: ambientIntensity);
FogSettings fog = new FogSettings(density: fogDensity);
......
Assets/Scripts/Program/RoadSegmentation/RoadSegmentation3.cs → Assets/Scripts/Program/RoadSegmentation/RoadSegmentation3a.cs
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......@@ -2,14 +2,14 @@
using System.Collections.Generic;
using UnityEngine;
public class RoadSegmentation3 : EnvironmentProgramBaseClass
public class RoadSegmentation3a : EnvironmentProgramBaseClass
{
///Define my ProDM vars here
//These are initialized here, but the actual values are designated in the Start() function
//so you need to check there to set the values.
VarInterval<int> numCols;
VarInterval<int> roadLength;
VarEnum<int> numLanes;
//These are the variables to control the environment
//They need to be defined here every time, but can be set to constant values in the Start()
VarInterval<float> lightIntensity;
......@@ -17,8 +17,6 @@ public class RoadSegmentation3 : EnvironmentProgramBaseClass
VarInterval<float> fogDensity;
ProDMColor color;
int numLanes = 6;
VarEnum<Color> oneOfInvariantColor = new VarEnum<Color>(new List<Color> { Color.red, Color.blue, Color.black });
//This adds the visualization aspect to the datastructure.
//In the future, it should just be behind-the-scenes and not necessary in this script
......@@ -40,23 +38,29 @@ public class RoadSegmentation3 : EnvironmentProgramBaseClass
trainUpdateRequired = false;
fogDensity = new VarInterval<float>(val: 0, min: 0, max: 0.3f, desc: "FOG_DENSITY");
lightIntensity = new VarInterval<float>(val: 1.85f, min: 0, max: 10);
color = new ProDMColor(new VarInterval<float>(val: 0.9811321f, min: 0f, max: 1f), new VarInterval<float>(val: 0.9380283f, min: 0f, max: 1f),
new VarInterval<float>(val: 0.8932f, min: 0f, max: 1f), 1f);
//PlaceHolderForVisualizer.Visualize(nameof(color), color);
ambientIntensity = new VarInterval<float>(val: 1.3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
//day
lightIntensity = new VarInterval<float>(val: 1.75f, min: 0, max: 10);
ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
//night
//lightIntensity = new VarInterval<float>(val: 0.95f, min: 0, max: 10);
//ambientIntensity = new VarInterval<float>(val: 3f, min: 0f, max: 5f, desc: "AMBIENT_LIGHT_INTENSITY");
List<int> numLanesOptions = new List<int> { 2, 4 };
numLanes = new VarEnum<int>(numLanesOptions, 1);
//initialize my ProDM and VarEnum vars here
//THIS CONTROLS THE NUMBER OF INTERSECTIONS AND THE CONNECTING ROAD LENGTH
numCols = new VarInterval<int>(val: 5, min: 1, max: 5);
roadLength = new VarInterval<int>(val: 3, min: 1, max: 30);
roadLength = new VarInterval<int>(val: 15, min: 1, max: 30);
//PlaceHolderForVisualizer.Visualize(nameof(numCols), numCols);
walkingSpeed = new VarInterval<float>(val: 4f, min: 1f, max: 10f);
euclideanDist = new VarInterval<float>(val: 40f, min: 20f, max: 60f);
//finish the setup, including the initial visualization of the scene and the environment settings
Test(timeCutOff: 200f);
Test();
}
//create the visualization of the road network
......@@ -119,43 +123,40 @@ public class RoadSegmentation3 : EnvironmentProgramBaseClass
//Second note: The AutonomousVehicle is declared earlier on because if pedestrians are declared on different
//road segments, they need to reference the AutonomousVehicle in their declaration
oneOfInvariantColor.SetRandom();
carColor = oneOfInvariantColor;
if (col == 0)
{
autonomouscar = new AutonomousVehicle(nameof(autonomouscar), cRoad0, 0f, LANE.PLUS_TWO, monitor: "CollisionMonitor", type: TestActorType.EGO_VEHICLE_TRAINING);
autonomouscar = new AutonomousVehicle(nameof(autonomouscar), cRoad0, 0f, LANE.PLUS_TWO, type: TestActorType.EGO_VEHICLE_TRAINING);
PlaceHolderForVisualizer.Visualize(autonomouscar);
AIVehicle car1 = new AIVehicle(nameof(car1), cRoad0, 0.15f, LANE.MINUS_THREE, Color.blue, model: "AICar2");
AIVehicle car1 = new AIVehicle(nameof(car1), cRoad0, 0.33f, LANE.MINUS_TWO, Color.blue, model: "AICar2");
PlaceHolderForVisualizer.Visualize(car1);
AIVehicle car2 = new AIVehicle(nameof(car2), cRoad0, 0.36f, LANE.PLUS_ONE, Color.blue, model: "AICar4");
AIVehicle car2 = new AIVehicle(nameof(car2), cRoad0, 0.45f, LANE.PLUS_ONE, Color.blue, model: "AICar4");
PlaceHolderForVisualizer.Visualize(car2);
AIVehicle car3 = new AIVehicle(nameof(car3), cRoad1, 0.8f, LANE.PLUS_TWO, Color.blue, model: "AICar2");
PlaceHolderForVisualizer.Visualize(car3);
AIVehicle car4 = new AIVehicle(nameof(car4), cRoad0, 0.7f, LANE.PLUS_THREE, Color.blue, model: "AICar1");
AIVehicle car4 = new AIVehicle(nameof(car4), cRoad0, 0.45f, LANE.PLUS_TWO, Color.blue, model: "AICar1");
PlaceHolderForVisualizer.Visualize(car4);
AIVehicle car5 = new AIVehicle(nameof(car5), cRoad0, 0.5f, LANE.PLUS_ONE, Color.blue, model: "AICar4");
AIVehicle car5 = new AIVehicle(nameof(car5), cRoad0, 0.25f, LANE.PLUS_ONE, Color.blue, model: "AICar4");
PlaceHolderForVisualizer.Visualize(car5);
AIVehicle car6 = new AIVehicle(nameof(car6), cRoad0, 0.5f, LANE.MINUS_ONE, Color.blue, model: "AICar3");
AIVehicle car6 = new AIVehicle(nameof(car6), cRoad0, 0.65f, LANE.MINUS_ONE, Color.blue, model: "AICar3");
PlaceHolderForVisualizer.Visualize(car6);
}
if (col == 1)
{
AIVehicle car1 = new AIVehicle(nameof(car1) + col.ToString(), cRoad0, 0.15f, LANE.MINUS_THREE, Color.blue, model: "AICar5");
AIVehicle car1 = new AIVehicle(nameof(car1) + col.ToString(), cRoad0, 0.22f, LANE.MINUS_TWO, Color.blue, model: "AICar5");
PlaceHolderForVisualizer.Visualize(car1);
AIVehicle car2 = new AIVehicle(nameof(car2) + col.ToString(), cRoad1, 0.36f, LANE.PLUS_ONE, Color.blue, model: "AICar4");
PlaceHolderForVisualizer.Visualize(car2);
AIVehicle car3 = new AIVehicle(nameof(car3) + col.ToString(), cRoad1, 0.8f, LANE.PLUS_TWO, Color.blue, model: "AICar2");
AIVehicle car3 = new AIVehicle(nameof(car3) + col.ToString(), cRoad1, 0.7f, LANE.PLUS_TWO, Color.blue, model: "AICar2");
PlaceHolderForVisualizer.Visualize(car3);
......@@ -168,7 +169,12 @@ public class RoadSegmentation3 : EnvironmentProgramBaseClass
public override void MakeEnvironment()
{
//Environment settings
ProDMVector3 lightDir = new ProDMVector3(45f, 45f, 45f);
//day
ProDMVector3 lightDir = new ProDMVector3(45f, -40f, 135f);
//night
//ProDMVector3 lightDir = new ProDMVector3(40f, 40f, 135f);
LightSettings light = new LightSettings(intensity: lightIntensity, direction: lightDir, color: color, ambientIntensity: ambientIntensity);
FogSettings fog = new FogSettings(density: fogDensity);
......
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