Edit: update linear interpolation method

Signed-off-by: George Giovanis <[email protected]>

Author: GeoGiovani

user_definer_3D_Q.py

@@ -0,0 +1,50 @@
+import numpy as np
+import math
+import os
+
+_bounds     = np.array([[-5.0, 5.0],[-5.0, 5.0],[-3.1415, 3.1415]])
+_ptsEachDim = np.array([25, 25, 9, 81])
+_goal       = np.array([[3.5, 3.5], [1.5707, 2.3562]]) 
+
+# set _actions based on ranges and number of steps
+# format: range(lower bound, upper bound, number of steps)
+vValues  = np.linspace(-2, 2, 9)
+wValues  = np.linspace(-1, 1, 9)
+_actions = []
+for i in vValues:
+    for j in wValues:
+        _actions.append((i,j))
+_actions = np.array(_actions)
+
+_gamma    = np.array([0.93])
+_epsilon  = np.array([.3])
+_maxIters = np.array([500])
+_trans    = np.zeros([1, 4]) # size: [maximum number of transition states available x 4]
+_useNN    = np.array([0])
+_fillVal  = np.array([-400]) # Fill Value for linear interpolation
+
+# Write results to file
+def writeResults(V, dir_path, file_name, just_values=False):
+    # Create directory for results if one does not exist
+    print("\nRecording results")
+    try:    
+        os.mkdir(dir_path)
+        print("Created directory: ", dir_path)
+    except: 
+        print("Writing to: '", dir_path, "'")
+    # Open file and write results
+    f = open(dir_path + file_name, "w")
+    for k in range(V.shape[2]):
+        for i in range(V.shape[0]):
+            for j in range(V.shape[1]):
+                s = ""
+                if not just_values:
+                    si = (( i / (_ptsEachDim[0] - 1) ) * (_bounds[0,1] - _bounds[0,0])) + _bounds[0,0]
+                    sj = (( j / (_ptsEachDim[1] - 1) ) * (_bounds[1,1] - _bounds[1,0])) + _bounds[1,0]
+                    sk = (( k / (_ptsEachDim[2] - 1) ) * (_bounds[2,1] - _bounds[2,0])) + _bounds[2,0]
+                    state = ("{:.4f}".format(si), "{:.4f}".format(sj), "{:.4f}".format(sk))
+                    s = str(state) + "   " + str(max(V[(i,j,k)])) + '\n'
+                else:
+                    s = str("{:.4f}".format(max(V[(i,j,k)]))) + ',\n'
+                f.write(s)
+    print("Finished recording results")