police_base.py 文件源码

def _police_move_by_continous_angle(self, police_list, police_actions):
        # Accept continous move action, which is more suitable for MADDPG
        # move angle (0~2pi)
        police_actions = np.clip(police_actions, 0, 2*np.pi)

        police_new_loc = police_list.copy()
        police_speed = self.teams['police']['speed']
        for _i, _a in enumerate(police_actions):
            _a = np.asscalar(_a)  # transform array to scalar
            action_dir = np.array([np.cos(_a), np.sin(_a)])
            police_dir = action_dir * police_speed
            _p = police_list[_i]
            _p = (_p[0] + police_dir[0], _p[1] + police_dir[1])
            _p = self.ensure_inside(_p)
            police_new_loc[_i] = _p

        return police_new_loc