parking-v0环境完整代码
时间: 2023-06-23 08:08:41 浏览: 55
下面是 parking-v0 环境的完整代码,包括环境类 `ParkingEnv` 和一个简单的示例程序:
```python
import numpy as np
import gym
from gym import spaces
class ParkingEnv(gym.Env):
metadata = {'render.modes': ['human']}
def __init__(self):
self.action_space = spaces.Discrete(3) # 0: 左转,1: 直行,2: 右转
self.observation_space = spaces.Discrete(5) # 0-4 表示停车场中的位置
self.reward_range = (-1, 1) # 奖励范围
self.state = 0 # 初始状态为停车场入口
def step(self, action):
assert self.action_space.contains(action), "Invalid action"
if self.state == 0: # 停车场入口
if action == 0: # 左转
self.state = 1
elif action == 1: # 直行
self.state = 2
else: # 右转
self.state = 3
elif self.state == 1: # 左转后的位置
if action == 0: # 左转
self.state = 4
elif action == 1: # 直行
self.state = 2
else: # 右转
self.state = 3
elif self.state == 2: # 直行后的位置
if action == 0: # 左转
self.state = 1
elif action == 1: # 直行
self.state = 3
else: # 右转
self.state = 4
elif self.state == 3: # 右转后的位置
if action == 0: # 左转
self.state = 1
elif action == 1: # 直行
self.state = 4
else: # 右转
self.state = 2
else: # 停车场内的位置
if action == 0: # 左转
self.state -= 1
elif action == 1: # 直行
pass # 位置不变
else: # 右转
self.state += 1
if self.state == 0: # 回到停车场入口,任务完成
reward = 1
done = True
else:
reward = 0
done = False
return self.state, reward, done, {}
def reset(self):
self.state = 0 # 回到停车场入口,开始新的任务
return self.state
def render(self, mode='human'):
if mode == 'human':
print(f"当前位置:{self.state}")
if __name__ == '__main__':
env = ParkingEnv()
obs = env.reset()
env.render()
while True:
action = env.action_space.sample() # 随机采样动作
obs, reward, done, info = env.step(action)
env.render()
if done:
break
```
你可以使用以下代码来测试这个环境:
```python
env = ParkingEnv()
obs = env.reset()
env.render()
while True:
action = env.action_space.sample() # 随机采样动作
obs, reward, done, info = env.step(action)
env.render()
if done:
break
```
这段代码不断采样随机动作,直到任务完成为止。在每个时间步,它会输出当前的位置。