Inheritance diagram for firefly_env.FireflyEnv:

Public Member Functions
def	__init__ (self)

def	render (self, mode='human')

def	start_game (self)

def	get_blue1_ground_truth (self)

def	get_blue2_ground_truth (self)

def	get_red1_ground_truth (self)

def	get_red2_ground_truth (self)

ShootInfo	get_red2_shoot_info (self)

ShootInfo	get_red1_shoot_info (self)

ShootInfo	get_blue1_shoot_info (self)

ShootInfo	get_blue2_shoot_info (self)

RobotStatus	get_blue1_robot_status (self)

RobotStatus	get_blue2_robot_status (self)

RobotStatus	get_red1_robot_status (self)

RobotStatus	get_red2_robot_status (self)

def	get_buff_zones_status (self)

def	get_game_status (self)

def	get_game_survivor (self)

def	reinit_sensors (self)

def	get_obs (self)

def	is_roll_over (self)

Public Member Functions inherited from robot_gazebo_env.RobotGazeboEnv
def	__init__ (self, robot_name_space, controllers_list, reset_controls, start_init_physics_parameters=True, reset_world_or_sim="SIMULATION")

def	seed (self, seed=None)

def	step (self, action)

def	reset (self)

def	close (self)

Private Member Functions
def	_check_all_systems_ready (self)

def	_check_all_sensors_ready (self)

def	_check_red2_ground_truth_ready (self)

def	_check_red1_ground_truth_ready (self)

def	_check_blue1_ground_truth_ready (self)

def	_check_blue2_ground_truth_ready (self)

def	_check_red2_robot_status_ready (self)

def	_check_red1_robot_status_ready (self)

def	_check_blue1_robot_status_ready (self)

def	_check_blue2_robot_status_ready (self)

def	_red2_ground_truth_callback (self, Odometry data)

def	_red1_ground_truth_callback (self, Odometry data)

def	_blue1_ground_truth_callback (self, Odometry data)

def	_blue2_ground_truth_callback (self, Odometry data)

def	_red2_shoot_info_callback (self, data)

def	_red1_shoot_info_callback (self, data)

def	_blue1_shoot_info_callback (self, data)

def	_blue2_shoot_info_callback (self, data)

def	_check_red2_shoot_info_ready (self)

def	_check_red1_shoot_info_ready (self)

def	_check_blue1_shoot_info_ready (self)

def	_check_blue2_shoot_info_ready (self)

def	_red2_robot_status_callback (self, data)

def	_red1_robot_status_callback (self, data)

def	_blue1_robot_status_callback (self, data)

def	_blue2_robot_status_callback (self, data)

def	_buff_zone_status_callback (self, data)

def	_check_buff_zone_status_ready (self)

def	_game_status_callback (self, data)

def	_check_game_status_ready (self)

def	_game_survivor_callback (self, data)

def	_check_game_survivor_ready (self)

def	_robot_strategy_status_callback (self, RobotStrategyState data)

def	_check_publishers_connection (self)

def	_set_init_pose (self)

def	_init_env_variables (self)

def	_env_setup (self, initial_qpos)

def	_compute_reward (self, observations, done, my_color='red')

def	_set_action (self, action)

def	_get_obs (self)

def	_is_done (self, observations)

def	_is_stop (self, stop_time=60)

Static Private Member Functions
def	_get_continuous_data_num (list data_list, finish=-1)

Private Attributes
	_robot_strategy_status

	_my_color

	_acion_id_pub

	_robot_pose_pub

	_reset_referee_pub

Detailed Description

Superclass for all CubeSingleDisk environments.

Constructor & Destructor Documentation

◆ init()

def firefly_env.FireflyEnv.__init__ ( self )

Initializes a new FireflyEnv environment.

To check any topic we need to have the simulations running, we need to do two things:
1) Unpause the simulation: without that th stream of data doesnt flow. This is for simulations
that are pause for whatever the reason
2) If the simulation was running already for some reason, we need to reset the controlers.
This has to do with the fact that some plugins with tf, dont understand the reset of the simulation
and need to be reseted to work properly.

The Sensors: The sensors accesible are the ones considered usefull for AI learning.

Args:

Member Function Documentation

◆ _blue1_ground_truth_callback()

def firefly_env.FireflyEnv._blue1_ground_truth_callback	(		self,
		Odometry	data
	)

private

◆ _blue1_robot_status_callback()

def firefly_env.FireflyEnv._blue1_robot_status_callback	(	self,
		data
	)

private

◆ _blue1_shoot_info_callback()

def firefly_env.FireflyEnv._blue1_shoot_info_callback	(	self,
		data
	)

private

◆ _blue2_ground_truth_callback()

def firefly_env.FireflyEnv._blue2_ground_truth_callback	(		self,
		Odometry	data
	)

private

◆ _blue2_robot_status_callback()

def firefly_env.FireflyEnv._blue2_robot_status_callback	(	self,
		data
	)

private

◆ _blue2_shoot_info_callback()

def firefly_env.FireflyEnv._blue2_shoot_info_callback	(	self,
		data
	)

private

◆ _buff_zone_status_callback()

def firefly_env.FireflyEnv._buff_zone_status_callback	(	self,
		data
	)

private

◆ _check_all_sensors_ready()

def firefly_env.FireflyEnv._check_all_sensors_ready ( self )

private

◆ _check_all_systems_ready()

def firefly_env.FireflyEnv._check_all_systems_ready ( self )

private

Checks that all the sensors, publishers and other simulation systems are
operational.

Reimplemented from robot_gazebo_env.RobotGazeboEnv.

◆ _check_blue1_ground_truth_ready()

def firefly_env.FireflyEnv._check_blue1_ground_truth_ready ( self )

private

◆ _check_blue1_robot_status_ready()

def firefly_env.FireflyEnv._check_blue1_robot_status_ready ( self )

private

◆ _check_blue1_shoot_info_ready()

def firefly_env.FireflyEnv._check_blue1_shoot_info_ready ( self )

private

◆ _check_blue2_ground_truth_ready()

def firefly_env.FireflyEnv._check_blue2_ground_truth_ready ( self )

private

◆ _check_blue2_robot_status_ready()

def firefly_env.FireflyEnv._check_blue2_robot_status_ready ( self )

private

◆ _check_blue2_shoot_info_ready()

def firefly_env.FireflyEnv._check_blue2_shoot_info_ready ( self )

private

◆ _check_buff_zone_status_ready()

def firefly_env.FireflyEnv._check_buff_zone_status_ready ( self )

private

◆ _check_game_status_ready()

def firefly_env.FireflyEnv._check_game_status_ready ( self )

private

◆ _check_game_survivor_ready()

def firefly_env.FireflyEnv._check_game_survivor_ready ( self )

private

◆ _check_publishers_connection()

def firefly_env.FireflyEnv._check_publishers_connection ( self )

private

Checks that all the publishers are working
:return:

◆ _check_red1_ground_truth_ready()

def firefly_env.FireflyEnv._check_red1_ground_truth_ready ( self )

private

◆ _check_red1_robot_status_ready()

def firefly_env.FireflyEnv._check_red1_robot_status_ready ( self )

private

◆ _check_red1_shoot_info_ready()

def firefly_env.FireflyEnv._check_red1_shoot_info_ready ( self )

private

◆ _check_red2_ground_truth_ready()

def firefly_env.FireflyEnv._check_red2_ground_truth_ready ( self )

private

◆ _check_red2_robot_status_ready()

def firefly_env.FireflyEnv._check_red2_robot_status_ready ( self )

private

◆ _check_red2_shoot_info_ready()

def firefly_env.FireflyEnv._check_red2_shoot_info_ready ( self )

private

◆ _compute_reward()

def firefly_env.FireflyEnv._compute_reward	(	self,
		observations,
		done,
		my_color = `'red'`
	)

private

Calculates the reward to give based on the observations given.
我方血量：+k1×血量/2000
敌方血量：-k1×血量/2000
敌方死：+MAX
我方死：-MAX
敌方子弹量：-k2×敌方子弹/100
我方子弹量：+k2×我方子弹/100
执行上一拍策略：2^(-x)  连续执行次数x

◆ _env_setup()

def firefly_env.FireflyEnv._env_setup	(	self,
		initial_qpos
	)

private

Initial configuration of the environment. Can be used to configure initial state
and extract information from the simulation.

Reimplemented from robot_gazebo_env.RobotGazeboEnv.

◆ _game_status_callback()

def firefly_env.FireflyEnv._game_status_callback	(	self,
		data
	)

private

◆ _game_survivor_callback()

def firefly_env.FireflyEnv._game_survivor_callback	(	self,
		data
	)

private

◆ _get_continuous_data_num()

def firefly_env.FireflyEnv._get_continuous_data_num	(	list	data_list,
			finish = `-1`
	)

staticprivate

获得从finish向前连续的数据个数
:param finish: 计数的开始位置（从后往前）
:return: 连续的数据个数

◆ _get_obs()

def firefly_env.FireflyEnv._get_obs ( self )

private

Returns the observation.

Reimplemented from robot_gazebo_env.RobotGazeboEnv.

◆ _init_env_variables()

def firefly_env.FireflyEnv._init_env_variables ( self )

private

Inits variables needed to be initialised each time we reset at the start
of an episode.

Reimplemented from robot_gazebo_env.RobotGazeboEnv.

◆ _is_done()

def firefly_env.FireflyEnv._is_done	(	self,
		observations
	)

private

Checks if episode done based on observations given.

Reimplemented from robot_gazebo_env.RobotGazeboEnv.

◆ _is_stop()

def firefly_env.FireflyEnv._is_stop	(	self,
		stop_time = `60`
	)

private

判断若我方两个机器人是否长时间静止
:return:

◆ _red1_ground_truth_callback()

def firefly_env.FireflyEnv._red1_ground_truth_callback	(		self,
		Odometry	data
	)

private

◆ _red1_robot_status_callback()

def firefly_env.FireflyEnv._red1_robot_status_callback	(	self,
		data
	)

private

◆ _red1_shoot_info_callback()

def firefly_env.FireflyEnv._red1_shoot_info_callback	(	self,
		data
	)

private

◆ _red2_ground_truth_callback()

def firefly_env.FireflyEnv._red2_ground_truth_callback	(		self,
		Odometry	data
	)

private

◆ _red2_robot_status_callback()

def firefly_env.FireflyEnv._red2_robot_status_callback	(	self,
		data
	)

private

◆ _red2_shoot_info_callback()

def firefly_env.FireflyEnv._red2_shoot_info_callback	(	self,
		data
	)

private

◆ _robot_strategy_status_callback()

def firefly_env.FireflyEnv._robot_strategy_status_callback	(		self,
		RobotStrategyState	data
	)

private

◆ _set_action()

def firefly_env.FireflyEnv._set_action	(	self,
		action
	)

private

Applies the given action to the simulation.

Reimplemented from robot_gazebo_env.RobotGazeboEnv.

◆ _set_init_pose()

def firefly_env.FireflyEnv._set_init_pose ( self )

private

Sets the Robot in its init pose

Reimplemented from robot_gazebo_env.RobotGazeboEnv.

◆ get_blue1_ground_truth()

def firefly_env.FireflyEnv.get_blue1_ground_truth ( self )

◆ get_blue1_robot_status()

RobotStatus firefly_env.FireflyEnv.get_blue1_robot_status ( self )

◆ get_blue1_shoot_info()

ShootInfo firefly_env.FireflyEnv.get_blue1_shoot_info ( self )

◆ get_blue2_ground_truth()

def firefly_env.FireflyEnv.get_blue2_ground_truth ( self )

◆ get_blue2_robot_status()

RobotStatus firefly_env.FireflyEnv.get_blue2_robot_status ( self )

◆ get_blue2_shoot_info()

ShootInfo firefly_env.FireflyEnv.get_blue2_shoot_info ( self )

◆ get_buff_zones_status()

def firefly_env.FireflyEnv.get_buff_zones_status ( self )

◆ get_game_status()

def firefly_env.FireflyEnv.get_game_status ( self )

◆ get_game_survivor()

def firefly_env.FireflyEnv.get_game_survivor ( self )

◆ get_obs()

def firefly_env.FireflyEnv.get_obs ( self )

◆ get_red1_ground_truth()

def firefly_env.FireflyEnv.get_red1_ground_truth ( self )

◆ get_red1_robot_status()

RobotStatus firefly_env.FireflyEnv.get_red1_robot_status ( self )

◆ get_red1_shoot_info()

ShootInfo firefly_env.FireflyEnv.get_red1_shoot_info ( self )

◆ get_red2_ground_truth()

def firefly_env.FireflyEnv.get_red2_ground_truth ( self )

◆ get_red2_robot_status()

RobotStatus firefly_env.FireflyEnv.get_red2_robot_status ( self )

◆ get_red2_shoot_info()

ShootInfo firefly_env.FireflyEnv.get_red2_shoot_info ( self )

◆ is_roll_over()

def firefly_env.FireflyEnv.is_roll_over ( self )

◆ reinit_sensors()

def firefly_env.FireflyEnv.reinit_sensors ( self )

This method is for the tasks so that when reseting the episode
the sensors values are forced to be updated with the real data and

◆ render()

def firefly_env.FireflyEnv.render	(	self,
		mode = `'human'`
	)

◆ start_game()

def firefly_env.FireflyEnv.start_game ( self )

Member Data Documentation

◆ _acion_id_pub

firefly_env.FireflyEnv._acion_id_pub

private

◆ _my_color

firefly_env.FireflyEnv._my_color

private

◆ _reset_referee_pub

firefly_env.FireflyEnv._reset_referee_pub

private

◆ _robot_pose_pub

firefly_env.FireflyEnv._robot_pose_pub

private

◆ _robot_strategy_status

firefly_env.FireflyEnv._robot_strategy_status

private

◆ blue1_ground_truth_pose

firefly_env.FireflyEnv.blue1_ground_truth_pose

◆ blue1_robot_status

firefly_env.FireflyEnv.blue1_robot_status

◆ blue1_shoot_info

firefly_env.FireflyEnv.blue1_shoot_info

◆ blue2_ground_truth_pose

firefly_env.FireflyEnv.blue2_ground_truth_pose

◆ blue2_robot_status

firefly_env.FireflyEnv.blue2_robot_status

◆ blue2_shoot_info

firefly_env.FireflyEnv.blue2_shoot_info

◆ buff_zone_status

firefly_env.FireflyEnv.buff_zone_status

◆ controllers_list

firefly_env.FireflyEnv.controllers_list

◆ game_status

firefly_env.FireflyEnv.game_status

◆ game_survivor

firefly_env.FireflyEnv.game_survivor

◆ my_robots_pose

firefly_env.FireflyEnv.my_robots_pose

◆ rate

firefly_env.FireflyEnv.rate

◆ red1_ground_truth_pose

firefly_env.FireflyEnv.red1_ground_truth_pose

◆ red1_robot_status

firefly_env.FireflyEnv.red1_robot_status

◆ red1_shoot_info

firefly_env.FireflyEnv.red1_shoot_info

◆ red2_ground_truth_pose

firefly_env.FireflyEnv.red2_ground_truth_pose

◆ red2_robot_status

firefly_env.FireflyEnv.red2_robot_status

◆ red2_shoot_info

firefly_env.FireflyEnv.red2_shoot_info

◆ robot_name_space

firefly_env.FireflyEnv.robot_name_space

The documentation for this class was generated from the following file:

src/ICRA-Firefly-RoboRTS/roborts_decision/dqn_decision/firefly_env.py

Public Attributes
	controllers_list

	robot_name_space

	red1_ground_truth_pose

	red2_ground_truth_pose

	blue1_ground_truth_pose

	blue2_ground_truth_pose

	red1_shoot_info

	red2_shoot_info

	blue1_shoot_info

	blue2_shoot_info

	red1_robot_status

	red2_robot_status

	blue1_robot_status

	blue2_robot_status

	buff_zone_status

	game_status

	game_survivor

	rate

	my_robots_pose

Public Attributes inherited from robot_gazebo_env.RobotGazeboEnv
	gazebo

	controllers_object

	reset_controls

	episode_num

	cumulated_episode_reward

	reward_pub

Public Member Functions

Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ _blue1_ground_truth_callback()

◆ _blue1_robot_status_callback()

◆ _blue1_shoot_info_callback()

◆ _blue2_ground_truth_callback()

◆ _blue2_robot_status_callback()

◆ _blue2_shoot_info_callback()

◆ _buff_zone_status_callback()

◆ _check_all_sensors_ready()

◆ _check_all_systems_ready()

◆ _check_blue1_ground_truth_ready()

◆ _check_blue1_robot_status_ready()

◆ _check_blue1_shoot_info_ready()

◆ _check_blue2_ground_truth_ready()

◆ _check_blue2_robot_status_ready()

◆ _check_blue2_shoot_info_ready()

◆ _check_buff_zone_status_ready()

◆ _check_game_status_ready()

◆ _check_game_survivor_ready()

◆ _check_publishers_connection()

◆ _check_red1_ground_truth_ready()

◆ _check_red1_robot_status_ready()

◆ _check_red1_shoot_info_ready()

◆ _check_red2_ground_truth_ready()

◆ _check_red2_robot_status_ready()

◆ _check_red2_shoot_info_ready()

◆ _compute_reward()

◆ _env_setup()

◆ _game_status_callback()

◆ _game_survivor_callback()

◆ _get_continuous_data_num()

◆ _get_obs()

◆ _init_env_variables()

◆ _is_done()

◆ _is_stop()

◆ _red1_ground_truth_callback()

◆ _red1_robot_status_callback()

◆ _red1_shoot_info_callback()

◆ _red2_ground_truth_callback()

◆ _red2_robot_status_callback()

◆ _red2_shoot_info_callback()

◆ _robot_strategy_status_callback()

◆ _set_action()

◆ _set_init_pose()

◆ get_blue1_ground_truth()

◆ get_blue1_robot_status()

◆ get_blue1_shoot_info()

◆ get_blue2_ground_truth()

◆ get_blue2_robot_status()

◆ get_blue2_shoot_info()

◆ get_buff_zones_status()

◆ get_game_status()

◆ get_game_survivor()

◆ get_obs()

◆ get_red1_ground_truth()

◆ get_red1_robot_status()

◆ get_red1_shoot_info()

◆ get_red2_ground_truth()

◆ get_red2_robot_status()

◆ get_red2_shoot_info()

◆ is_roll_over()

◆ reinit_sensors()

◆ render()

◆ start_game()

Member Data Documentation

◆ _acion_id_pub

◆ _my_color

◆ _reset_referee_pub

◆ _robot_pose_pub

◆ _robot_strategy_status

◆ blue1_ground_truth_pose

◆ blue1_robot_status

◆ init()