From c7f3c569a1638399dd481e7abc028307b96c2a4c Mon Sep 17 00:00:00 2001
From: "Hsieh, Chiao" <chsieh16@illinois.edu>
Date: Tue, 3 May 2022 17:14:32 -0500
Subject: [PATCH] is_positive_example w/o considering state bound
---
gem_stanley_teacher.py | 7 +------
1 file changed, 1 insertion(+), 6 deletions(-)
diff --git a/gem_stanley_teacher.py b/gem_stanley_teacher.py
index 70500be..dff0fbc 100644
--- a/gem_stanley_teacher.py
+++ b/gem_stanley_teacher.py
@@ -108,14 +108,9 @@ class GEMStanleyGurobiTeacher(GurobiTeacherBase):
super().__init__(name=name,
state_dim=3, perc_dim=2, ctrl_dim=1, norm_ord=norm_ord)
- def is_positive_example(self, ex) -> Optional[bool]:
+ def is_positive_example(self, ex) -> bool:
assert len(ex) == self.state_dim + self.perc_dim
- state_arr = np.asfarray(ex[0:self.state_dim])
- if not (np.all(self._old_state.lb <= state_arr) and
- np.all(state_arr <= self._old_state.ub)):
- return None
-
def g(cte, phi):
error = phi + np.arctan(K_P*cte/FORWARD_VEL)
steer = np.clip(error, -STEERING_LIM, STEERING_LIM)
--
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