Proto commits in MARMOTatZJU/drl-based-trajectory-tracking

These 29 commits are when the Protocol Buffers files have changed:

2024-04-29

[xyd/repo] reorg file: common/simulator -> drltt/ - add library

The documentation is generated from this commit.

2024-03-17

[xyd/sdk] add estimate func. for init_state - `ReferenceLineManager.estimate_init_state_from_reference_line` - test - applied in environment - move reference line-related utils to RefereLineManager - as classmethod

2024-03-16

[xyd/env] add init from proto - initialize environment/dynamics model manager from proto - env_data, HyperParameter - update base config, add names of dynamics model

2024-03-15

[xyd/test] improve debug_info - change to global variable - python: common.io.GLOBAL_DEBUG_INFO - cpp: drltt::global_debug_info - update readme with usage description of `debug_info` - common - add common.h

2024-03-13

[xyd/dynamics] add `max_steer`/`max_lat_acc`

[xyd/test] add debug info for precision check - comparison of intermediate data at Python side/C++ side - clear before step - add intermediate data in the middle of step - TODO: lines of code for comparison step-level state/action/observation - add configurable flag to control them instead of commenting them

[xyd/test] multiple test cases for environment - to achieve deterministic test - sb3 learner export - sdk environment test

2024-03-12

[xyd/proto] reorg. protobuf: environment - create abstract `Environment` - move `TrajectoryTrackingEnvironment` under `Environment` - via composition

2024-03-11

[xyd/doc] add docstring for protobuf

2024-03-06

[xyd/env] adaptation for sdk - roll out one episode - to export env_data - export index of selected dynamics model - proto - env

[xyd/sdk] Trajectory Tracking environment - linking - dynamics model - inference - libtorch wrapper - observation manager - end-to-end test on trajectory tracking - gtest - model tracking - jit - data recording - based on protobuf - record at training phase - used as test case for sdk - improve scripts/doc/dockerfile - TODO: test and docstring

[xyd/infer] export traced module - wrapper class - export functino - update readme - record and dump test cases - add test for exported jit module - remove syntax redundancy - inference: add numeric test and dump test cases - save format: protobuf/numpy

[xyd/env] parse dynamics model hparam - dynamics model hyper parameter - parse in proto - export from dynamics_model_manager - add test script

2024-03-04

[xyd/traj] add pad mode for reference line - configurable

2024-02-29

[xyd/env] extend env interface and save data - use inheritence to extend interface - `ExtendedGymEnv` - save environment data

[xyd/proto] change proto name: CoG -> cog - consistent with cpp code generation

[xyd/sdk] implement dynamics model - class inheritance - resolve issue with virtual class - operator for bicycle model - test

2024-02-26

[xyd/proto] refactor pacakge name

2024-02-17

[xyd/eval] implement evaluation for tt - evaluation for trajectory tracking - bicycle model - unit test - improve training function - misc - abstraction: build_sb3_model_from_config - add function for generating random string

2024-02-16

[xyd/proto] record class name

[xyd/proto] add abstract of episode for recording

[xyd/proto] implement `parse_hyper_parameter`

[xyd/proto] move to composition style - use composition instead of inheritance - update dynmiacs model

2024-02-15

[xyd/env] trajectory tracking - add environment for trajectory tracking - build_space/reset/step - unit test - manager class - DynamicsModelManager - ObservationManager - ReferenceLineManager - add registry - add primitives for geometry (coordinate transform) - add config systems - primitives for config - sample config - update unit test - add execution section - if __name__ == '__main__' - misc update - DTYPE move to np.float64 - add frozendict - add BodyState - add `override` and require Python>=3.12

2024-02-10

[xyd/trajectory] proto/random walk/test/fixup - proto: trajectory/refernece_line - fixup proto - reorganize: move packages under `drltt` - update import path in *.py - fix compile path - update doc

[xyd/fixup] typing, hyperparameter

2023-11-24

[xyd/fixup] typo, override, feature - add action lb/ub - hide override (wait until python 3.12) - get_action_space

[xyd/dynamics] add bicycle model - add `step` - add state/action in proto - add methods for serialization/deserialization - add `normalize_anglie`

[xyd/proto] add proto - add script to compile proto - call this script in `setup.sh` - add proto definiation of bicycle model's parameter - add path to compiled protos in gitignore