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forbid to leave the goal state

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Pavel Lutskov
2020-08-02 12:14:00 +02:00
parent e32880b515
commit bb1c23a46a
1 changed files with 10 additions and 0 deletions
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10
main.py
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@@ -92,6 +92,16 @@ def init_global(maze_filename):
PW_OF_X_U[ix, iu, -1] = 1 - PW_OF_X_U[ix, iu].sum() PW_OF_X_U[ix, iu, -1] = 1 - PW_OF_X_U[ix, iu].sum()
F_X_U_W[ix, iu, -1] = ij_to_s[tuple(x + u)] F_X_U_W[ix, iu, -1] = ij_to_s[tuple(x + u)]
# Forbid to leave the goal state
# (could've been done through cost function though)
goal_idx = ij_to_s[np.where(MAZE == b'G')][0]
U_OF_X[goal_idx] = False
U_OF_X[goal_idx, -1] = True
PW_OF_X_U[goal_idx] = 0
PW_OF_X_U[goal_idx, -1, -1] = 1
F_X_U_W[goal_idx] = 0
F_X_U_W[goal_idx, -1, -1] = goal_idx
def h_matrix(j, g): def h_matrix(j, g):
h_x_u = (PW_OF_X_U * (g[F_X_U_W] + ALPHA*j[F_X_U_W])).sum(axis=2) h_x_u = (PW_OF_X_U * (g[F_X_U_W] + ALPHA*j[F_X_U_W])).sum(axis=2)