Init. Commit

.readthedocs.yaml

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+# .readthedocs.yaml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Set the version of Python and other tools you might need
+build:
+  apt_packages:
+    - libsfml-dev
+    - libeigen3-dev
+    - python3-pybind11
+  os: ubuntu-22.04
+  tools:
+    python: "3.9"
+    # You can also specify other tool versions:
+    # nodejs: "16"
+    # rust: "1.55"
+    # golang: "1.17"
+
+# Build documentation in the docs/ directory with Sphinx
+sphinx:
+   configuration: docs/source/conf.py
+
+# If using Sphinx, optionally build your docs in additional formats such as PDF
+# formats:
+#    - pdf
+
+# Optionally declare the Python requirements required to build your docs
+python:
+   install:
+   - method: pip
+     path: .

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.15...3.25)
+project(${SKBUILD_PROJECT_NAME}  VERSION ${SKBUILD_PROJECT_VERSION})
+
+set(CMAKE_CXX_STANDARD 17)
+find_package (Eigen3 REQUIRED NO_MODULE)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -march=native -ffast-math -fopenmp -fPIC" )
+#set(CMAKE_MODULE_PATH "/usr/share/SFML/cmake/Modules" ${CMAKE_MODULE_PATH})
+find_package(SFML 2 REQUIRED network audio graphics window system)
+#find_package(PythonLibs REQUIRED)
+#find_package(Python3 COMPONENTS Interpreter NumPy REQUIRED)
+find_package(pybind11 CONFIG REQUIRED)
+if(SKBUILD)
+  message(STATUS "The project is built using scikit-build")
+endif()
+pybind11_add_module(pomdp_spaceship_env MODULE
+        src/scenario.cpp
+        src/rl_agent.cpp
+        src/Controller.cpp
+        src/SpaceShipSim/SpaceShipSim.cpp
+        src/SpaceShipSim/SpaceShip.cpp
+        src/SpaceShipSim/viz_helpers/emitter.cpp
+        src/SpaceShipSim/viz_helpers/particle.cpp
+        src/SpaceShipSim/SpaceControllers.cpp
+        src/Label.cpp
+        src/ThreadPool.cpp
+        src/SpaceShipSim/viz_helpers/goal.cpp
+        src/SpaceShipSim/viz_helpers/boosterglare.cpp
+        src/SpaceShipSim/viz_helpers/GlowingBall.cpp
+        src/SpaceShipSim/DistanceSensors.cpp
+        src/SpaceShipSim/Obstacle.cpp
+        src/interface.cpp
+        src/resources/booster.h
+        src/resources/mainframe.h
+        src/resources/Arial.h
+        )
+
+target_link_libraries(pomdp_spaceship_env PRIVATE ${PYTHON_LIBRARIES} sfml-graphics sfml-audio sfml-window sfml-system Eigen3::Eigen)
+
+target_compile_definitions(pomdp_spaceship_env PRIVATE VERSION_INFO=${PROJECT_VERSION})
+
+install(TARGETS pomdp_spaceship_env
+        DESTINATION .)
+

MANIFEST.in

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+include README.rst

README.rst

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+POMDP Space Ship Environment Documentation
+===============================================
+
+This is the documentation to the POMDP Space Ship Environment. This is a 2D environment
+for a Space Ship with two individually controllable thrusters. The goal is to reach a desired goal point (static or dynamic).
+The environment is filled with obstacles which can be sensed through distance sensors.
+This renders the environment only partially
+observable and thus the Markov Assumption is violated leading to issues with standard MLP-RL approaches.
+
+
+
+`Example video <https://www.youtube.com/watch?v=su16NdsVE5I&ab_channel=FinnBusch>`_
+
+`Source Code <https://github.com/finnBsch/PomdpSpaceShipEnv>`_
+
+`Documentation <https://pomdpspaceshipenv.readthedocs.io/en/latest/>`_
+
+Dependencies
+---------------------
+* `SFML <https://www.sfml-dev.org/>`_ for visualisation. Install with ``sudo apt install libsfml-dev`` for Debian-based distros.
+* `Eigen3 <https://eigen.tuxfamily.org/index.php?title=Main_Page>`_ for math. Install with ``sudo apt install libeigen3-dev`` for Debian-based distros.
+
+
+Getting Started
+---------------------
+Build and install the module
+
+.. code-block:: console
+
+    # Clone the repository
+    git clone https://github.com/finnBsch/PomdpSpaceShipEnv
+
+    
+    # Install the Python Module
+    pip install PomdpSpaceShipEnv
+
+
+Example Usage
+---------------------
+Generally, the environment is to be used as shown here.
+
+.. code-block :: python
+
+   # Simple script to test environment in real-time
+   
+   import pomdp_spaceship_env
+   import numpy as np
+   
+   conf = pomdp_spaceship_env.Config()
+   
+   N = 10000
+   n_ships = 1
+   
+   # Set Config
+   conf.Viz = True
+   conf.AutoReset = True
+   conf.ShareEnvs = False
+   conf.NumObs = 60
+   conf.DynamicGoals = False
+   
+   env = pomdp_spaceship_env.Env(conf, n_ships=n_ships)
+   env.SetViz(True, True)  # Draw Rays and Obstacles
+   
+   # Use np.float32 as input data type.
+   ins = np.array([[10, 10, -1, 1]], dtype=np.float32)
+   ins = np.repeat(ins, n_ships, axis=0)
+   env.SetControl(ins)
+   
+   # Loop the env
+   for i in range(N):
+       env.Step()  # could also provide a dt by calling .Step(dt=dt), useful for training.
+       states = env.GetState()
+       rewards = env.GetReward()
+       dones = env.GetAgentDone()
+
+Currently working on
+---------------------
+* Fully Customizable cost function (from Python)
+* Reproducible benchmark scenarios

docs/Makefile

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+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line.
+SPHINXOPTS    =
+SPHINXBUILD   = sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/build/html/.buildinfo

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+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: e52a4748bf1ea5a50376bb9ea55d2d27
+tags: 645f666f9bcd5a90fca523b33c5a78b7

docs/build/html/_modules/index.html

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+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Overview: module code &mdash; Pomdp Space Ship Environment  documentation</title>
+      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+  <!--[if lt IE 9]>
+    <script src="../_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+
+        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
+        <script src="../_static/underscore.js"></script>
+        <script src="../_static/doctools.js"></script>
+    <script src="../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../genindex.html" />
+    <link rel="search" title="Search" href="../search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+            <a href="../index.html" class="icon icon-home"> Pomdp Space Ship Environment
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Home</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../modules.html">API</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../usage.html">Usage</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../index.html">Pomdp Space Ship Environment</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../index.html" class="icon icon-home"></a></li>
+      <li class="breadcrumb-item active">Overview: module code</li>
+      <li class="wy-breadcrumbs-aside">
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+
+  <h1>All modules for which code is available</h1>
+<ul><li><a href="pomdp_spaceship_env/pomdp_spaceship_env.html">pomdp_spaceship_env.pomdp_spaceship_env</a></li>
+</ul>
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2022, Finn Lukas Busch.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+
+
+</footer>
+        </div>
+      </div>
+    </section>
+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>

docs/build/html/_sources/index.rst.txt

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+.. include:: ../../README.rst
+Contents
+========================================================
+.. toctree::
+   Home <self>
+   modules
+   usage
+

docs/build/html/_sources/modules.rst.txt

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+API
+=====================
+
+.. toctree::
+   :maxdepth: 4
+
+   pomdp_spaceship_env

docs/build/html/_sources/pomdp_spaceship_env.rst.txt

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+Pomdp Space Ship Environment
+============================
+
+.. automodule:: pomdp_spaceship_env
+   :members:
+   :exclude-members: Viz, ResX, ResY, AutoReset, DynamicGoals, NumObs, PrintLevel, ShareEnvs, SizeX, SizeY
+   :undoc-members:
+