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typo fix #40

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typo fix #40

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37 changes: 18 additions & 19 deletions gazebo/RoverPlugin.cpp
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Expand Up @@ -57,7 +57,7 @@

namespace gazebo
{

// register this plugin with the simulator
GZ_REGISTER_MODEL_PLUGIN(RoverPlugin)

Expand Down Expand Up @@ -100,7 +100,7 @@ RoverPlugin::RoverPlugin() : ModelPlugin(), cameraNode(new gazebo::transport::No
}


// configJoint
// configJoint
bool RoverPlugin::configJoint( const char* name )
{
std::vector<physics::JointPtr> jnt = model->GetJoints();
Expand All @@ -123,13 +123,13 @@ bool RoverPlugin::configJoint( const char* name )


// Load
void RoverPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
void RoverPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/)
{
printf("RoverPlugin::Load('%s')\n", _parent->GetName().c_str());

// Store the pointer to the model
this->model = _parent;

// Configure the drive joints
configJoint(LF_HINGE);
configJoint(LB_HINGE);
Expand Down Expand Up @@ -161,7 +161,7 @@ void RoverPlugin::onCameraMsg(ConstImageStampedPtr &_msg)
{
static int iter = 0;
iter++;

if( iter < 10 )
return;

Expand Down Expand Up @@ -195,7 +195,7 @@ void RoverPlugin::onCameraMsg(ConstImageStampedPtr &_msg)
}

printf("RoverPlugin - allocated camera img buffer %ix%i %i bpp %i bytes\n", width, height, bpp, size);

inputBufferSize = size;
inputRawWidth = width;
inputRawHeight = height;
Expand Down Expand Up @@ -258,9 +258,9 @@ bool RoverPlugin::createAgent()
return true;

// Create AI agent
agent = dqnAgent::Create(INPUT_WIDTH, INPUT_HEIGHT, INPUT_CHANNELS, NET_OUTPUTS,
agent = dqnAgent::Create(INPUT_WIDTH, INPUT_HEIGHT, INPUT_CHANNELS, NET_OUTPUTS,
OPTIMIZER, LEARNING_RATE, REPLAY_MEMORY, BATCH_SIZE,
GAMMA, EPS_START, EPS_END, EPS_DECAY,
GAMMA, EPS_START, EPS_END, EPS_DECAY,
USE_LSTM, LSTM_SIZE, ALLOW_RANDOM, DEBUG_DQN);
if( !agent )
{
Expand All @@ -280,7 +280,7 @@ bool RoverPlugin::createAgent()
}


// upon recieving a new frame, update the AI agent
// upon receiving a new frame, update the AI agent
bool RoverPlugin::updateAgent()
{
if( !agent )
Expand Down Expand Up @@ -318,7 +318,7 @@ bool RoverPlugin::updateAgent()
// action 0 does nothing, the others index a joint
if( action == 0 )
return false; // not an error, but didn't cause an update

action--; // with action 0 = no-op, index 1 should map to joint 0

// if the action is even, increase the joint position by the delta parameter
Expand Down Expand Up @@ -366,13 +366,13 @@ static const char* actionStr( int action )
// update joint reference positions, returns true if positions have been modified
bool RoverPlugin::updateJoints()
{
if( opMode == USER_MANUAL )
if( opMode == USER_MANUAL )
{
// make sure the HID interface is open
if( !HID )
{
static int count = 0; // BUG: gazebo glitches when dev opened early

if( count > 1000 )
HID = InputDevices::Create();

Expand All @@ -381,7 +381,7 @@ bool RoverPlugin::updateJoints()
if( !HID )
return false; // TODO: print Try running sudo?
}

// poll for input events
HID->Poll();

Expand Down Expand Up @@ -437,7 +437,7 @@ void RoverPlugin::OnUpdate(const common::UpdateInfo & /*_info*/)
{
static int iter = 0;
iter++;

if( iter < 1000 )
return;

Expand Down Expand Up @@ -499,7 +499,7 @@ void RoverPlugin::OnUpdate(const common::UpdateInfo & /*_info*/)
}

const math::Box& chassisBBox = chassis->GetBoundingBox();
const float distGoal = BoxDistance(goalBBox, chassisBBox);
const float distGoal = BoxDistance(goalBBox, chassisBBox);
const float distDelta = lastGoalDistance - distGoal;
const float movingAvg = 0.0f; // rolling average to smooth out the intermediary reward and prevent "hovering"

Expand All @@ -522,7 +522,7 @@ void RoverPlugin::OnUpdate(const common::UpdateInfo & /*_info*/)
else
rewardHistory = 0.0f;*/

newReward = true;
newReward = true;
}

// issue rewards and train DQN
Expand Down Expand Up @@ -569,8 +569,8 @@ void RoverPlugin::OnUpdate(const common::UpdateInfo & /*_info*/)
}

// print agent stats
printf("action = %s reward = %+0.4f wins = %03u of %03u (%0.2f) ",
actionStr(lastAction), rewardHistory,
printf("action = %s reward = %+0.4f wins = %03u of %03u (%0.2f) ",
actionStr(lastAction), rewardHistory,
episodesWon, episodesCompleted, float(episodesWon)/float(episodesCompleted));

const uint32_t RUN_HISTORY = sizeof(runHistory);
Expand All @@ -596,4 +596,3 @@ void RoverPlugin::OnUpdate(const common::UpdateInfo & /*_info*/)
}

}