terrain.py 文件源码

def clear_patch(hfield, box):
    ''' Clears a patch shaped like box, assuming robot is placed in center of hfield
    @param box: rllab.spaces.Box-like
    '''
    if box.flat_dim > 2:
        raise ValueError("Provide 2dim box")

    # clear patch
    h_center = int(0.5 * hfield.shape[0])
    w_center = int(0.5 * hfield.shape[1])
    fromrow, torow = w_center + int(box.low[0]/STEP), w_center + int(box.high[0] / STEP)
    fromcol, tocol = h_center + int(box.low[1]/STEP), h_center + int(box.high[1] / STEP)
    hfield[fromrow:torow, fromcol:tocol] = 0.0

    # convolve to smoothen edges somewhat, in case hills were cut off
    K = np.ones((10,10)) / 100.0
    s = convolve2d(hfield[fromrow-9:torow+9, fromcol-9:tocol+9], K, mode='same', boundary='symm')
    hfield[fromrow-9:torow+9, fromcol-9:tocol+9] = s

    return hfield