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Convert docstrings to NumPy style #169

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216 changes: 126 additions & 90 deletions gym/f110_gym/envs/base_classes.py
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Original file line number Diff line number Diff line change
Expand Up @@ -46,17 +46,26 @@ class RaceCar(object):
"""
Base level race car class, handles the physics and laser scan of a single vehicle

Data Members:
params (dict): vehicle parameters dictionary
is_ego (bool): ego identifier
time_step (float): physics timestep
num_beams (int): number of beams in laser
fov (float): field of view of laser
Attributes
----------
params : dict
vehicle parameters dictionary
is_ego : bool
ego identifier
time_step : float
physics timestep
num_beams : int
number of beams in laser
fov : float
field of view of laser
state (np.ndarray (7, )): state vector [x, y, theta, vel, steer_angle, ang_vel, slip_angle]
odom (np.ndarray(13, )): odometry vector [x, y, z, qx, qy, qz, qw, linear_x, linear_y, linear_z, angular_x, angular_y, angular_z]
accel (float): current acceleration input
steer_angle_vel (float): current steering velocity input
in_collision (bool): collision indicator
accel : float
current acceleration input
steer_angle_vel : float
current steering velocity input
in_collision : bool
collision indicator

"""

Expand All @@ -70,16 +79,21 @@ def __init__(self, params, seed, is_ego=False, time_step=0.01, num_beams=1080, f
"""
Init function

Args:
params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max': 9.51, 'v_min', 'v_max', 'length', 'width'}
is_ego (bool, default=False): ego identifier
time_step (float, default=0.01): physics sim time step
num_beams (int, default=1080): number of beams in the laser scan
fov (float, default=4.7): field of view of the laser
lidar_dist (float, default=0): vertical distance between LiDAR and backshaft
Parameters
----------
params : dict
vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max': 9.51, 'v_min', 'v_max', 'length', 'width'}
is_ego : bool, default False
ego identifier
time_step : float, default 0.01
physics sim time step
num_beams : int, default 1080
number of beams in the laser scan
fov : float, default 4.7
field of view of the laser
lidar_dist : float, default 0
vertical distance between LiDAR and backshaft

Returns:
None
"""

# initialization
Expand Down Expand Up @@ -162,33 +176,37 @@ def update_params(self, params):
Updates the physical parameters of the vehicle
Note that does not need to be called at initialization of class anymore

Args:
params (dict): new parameters for the vehicle
Parameters
----------
params : dict
new parameters for the vehicle

Returns:
None
"""
self.params = params

def set_map(self, map_path, map_ext):
"""
Sets the map for scan simulator

Args:
map_path (str): absolute path to the map yaml file
map_ext (str): extension of the map image file

Parameters
----------
map_path : str
absolute path to the map yaml file
map_ext : str
extension of the map image file

"""
RaceCar.scan_simulator.set_map(map_path, map_ext)

def reset(self, pose):
"""
Resets the vehicle to a pose

Args:
pose (np.ndarray (3, )): pose to reset the vehicle to

Returns:
None
Parameters
----------
pose : np.ndarray (3,)
Pose to reset the vehicle to [x, y, theta].

"""
# clear control inputs
self.accel = 0.0
Expand All @@ -207,11 +225,14 @@ def ray_cast_agents(self, scan):
"""
Ray cast onto other agents in the env, modify original scan

Args:
scan (np.ndarray, (n, )): original scan range array
Parameters
----------
scan : np.ndarray (n,)
Original scan range array.

Returns
-------

Returns:
new_scan (np.ndarray, (n, )): modified scan
"""

# starting from original scan
Expand All @@ -233,11 +254,10 @@ def check_ttc(self, current_scan):

state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle]

Args:
current_scan
Parameters
----------
current_scan

Returns:
None
"""

in_collision = check_ttc_jit(current_scan, self.state[3], self.scan_angles, self.cosines, self.side_distances, self.ttc_thresh)
Expand All @@ -257,12 +277,17 @@ def update_pose(self, raw_steer, vel):
"""
Steps the vehicle's physical simulation

Args:
steer (float): desired steering angle
vel (float): desired longitudinal velocity
Parameters
----------
steer : float
desired steering angle
vel : float
desired longitudinal velocity

Returns
-------
current_scan

Returns:
current_scan
"""

# state is [x, y, steer_angle, vel, yaw_angle, yaw_rate, slip_angle]
Expand Down Expand Up @@ -416,11 +441,11 @@ def update_opp_poses(self, opp_poses):
"""
Updates the vehicle's information on other vehicles

Args:
opp_poses (np.ndarray(num_other_agents, 3)): updated poses of other agents
Parameters
----------
opp_poses : np.ndarray (num_other_agents, 3)
Updated poses of other agents.

Returns:
None
"""
self.opp_poses = opp_poses

Expand All @@ -430,12 +455,11 @@ def update_scan(self, agent_scans, agent_index):
Steps the vehicle's laser scan simulation
Separated from update_pose because needs to update scan based on NEW poses of agents in the environment

Args:
agent scans list (modified in-place),
agent index (int)
Parameters
----------
agent_scans_list : modified in-place
agent index : int

Returns:
None
"""

current_scan = agent_scans[agent_index]
Expand All @@ -452,11 +476,15 @@ class Simulator(object):
"""
Simulator class, handles the interaction and update of all vehicles in the environment

Data Members:
num_agents (int): number of agents in the environment
time_step (float): physics time step
Attributes
----------
num_agents : int
number of agents in the environment
time_step : float
physics time step
agent_poses (np.ndarray(num_agents, 3)): all poses of all agents
agents (list[RaceCar]): container for RaceCar objects
agents : list[RaceCar]
container for RaceCar objects
collisions (np.ndarray(num_agents, )): array of collision indicator for each agent
collision_idx (np.ndarray(num_agents, )): which agent is each agent in collision with

Expand All @@ -466,16 +494,21 @@ def __init__(self, params, num_agents, seed, time_step=0.01, ego_idx=0, integrat
"""
Init function

Args:
params (dict): vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 'v_min', 'v_max', 'length', 'width'}
num_agents (int): number of agents in the environment
seed (int): seed of the rng in scan simulation
time_step (float, default=0.01): physics time step
ego_idx (int, default=0): ego vehicle's index in list of agents
lidar_dist (float, default=0): vertical distance between LiDAR and backshaft
Parameters
----------
params : dict
vehicle parameter dictionary, includes {'mu', 'C_Sf', 'C_Sr', 'lf', 'lr', 'h', 'm', 'I', 's_min', 's_max', 'sv_min', 'sv_max', 'v_switch', 'a_max', 'v_min', 'v_max', 'length', 'width'}
num_agents : int
number of agents in the environment
seed : int
seed of the rng in scan simulation
time_step : float, default 0.01
physics time step
ego_idx : int, default 0
ego vehicle's index in list of agents
lidar_dist : float, default 0
vertical distance between LiDAR and backshaft

Returns:
None
"""
self.num_agents = num_agents
self.seed = seed
Expand All @@ -500,12 +533,13 @@ def set_map(self, map_path, map_ext):
"""
Sets the map of the environment and sets the map for scan simulator of each agent

Args:
map_path (str): path to the map yaml file
map_ext (str): extension for the map image file
Parameters
----------
map_path : str
path to the map yaml file
map_ext : str
extension for the map image file

Returns:
None
"""
for agent in self.agents:
agent.set_map(map_path, map_ext)
Expand All @@ -515,12 +549,13 @@ def update_params(self, params, agent_idx=-1):
"""
Updates the params of agents, if an index of an agent is given, update only that agent's params

Args:
params (dict): dictionary of params, see details in docstring of __init__
agent_idx (int, default=-1): index for agent that needs param update, if negative, update all agents
Parameters
----------
params : dict
dictionary of params, see details in docstring of __init__
agent_idx : int, default -1
index for agent that needs param update, if negative, update all agents

Returns:
None
"""
if agent_idx < 0:
# update params for all
Expand All @@ -537,11 +572,6 @@ def check_collision(self):
"""
Checks for collision between agents using GJK and agents' body vertices

Args:
None

Returns:
None
"""
# get vertices of all agents
all_vertices = np.empty((self.num_agents, 4, 2))
Expand All @@ -554,11 +584,17 @@ def step(self, control_inputs):
"""
Steps the simulation environment

Args:
control_inputs (np.ndarray (num_agents, 2)): control inputs of all agents, first column is desired steering angle, second column is desired velocity

Returns:
observations (dict): dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc.
Parameters
----------
control_inputs : np.ndarray (num_agents, 2)
Control inputs of all agents, first column is desired steering
angle, second column is desired velocity.

Returns
-------
observations : dict
dictionary for observations: poses of agents, current laser scan of each agent, collision indicators, etc.

"""


Expand Down Expand Up @@ -615,11 +651,11 @@ def reset(self, poses):
"""
Resets the simulation environment by given poses

Arges:
poses (np.ndarray (num_agents, 3)): poses to reset agents to
Parameters
----------
poses : np.ndarray (num_agents, 3)
Poses to reset agents to. Each row is [x, y, theta].

Returns:
None
"""

if poses.shape[0] != self.num_agents:
Expand Down
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