create deepReinforcementLearning repo, test print vehicle

2024-06-11 22:24:59 +02:00
parent 99e87a7b5b
commit fca991eb37
6 changed files with 1075 additions and 0 deletions
@@ -0,0 +1,119 @@
+#ifndef __VEHICLE__C_H__
+#define __VEHICLE__C_H__
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
+
+#include <sys/ioctl.h>
+
+
+#include <math.h>
+
+#include "tools_t/tools_t.h"
+#include "dimension_t/dimension_t.h"
+
+#define LOG_LENTH 128
+
+#define LEFT 0
+#define CENTER 1
+#define RIGHT 2
+
+#define SUBDIVISION 10
+
+
+struct game_status {
+  long state;
+  long reward;
+  long cumulative_reward;
+  bool done;
+  char log[LOG_LENTH];
+  int cur_log;
+};
+
+struct coordinate {
+  size_t dimension_size;
+  float *x;
+};
+
+/*
+  +-----------------------+ <-- upper_bound_block (coordinate (6,5) for example) 
+  |                       |
+  |                       |
+  |  BLOCK                |
+  |                       |
+  |                       |
+  +-----------------------+ 
+  ^ 
+  |
+  lower_bound_block (coordinate ( 0,0 ) for example
+
+*/
+struct blocks {
+  size_t nb_blocks;
+  struct coordinate **lower_bound_block; 
+  struct coordinate **upper_bound_block;
+  struct coordinate **bounds_all_blocks;
+  bool all_updated;
+  size_t dimension_size;
+  bool *marker;
+  //float step: // size of subdivision of the lowest large
+};
+
+
+struct sensors {
+  size_t nb_values;
+  float *value;
+};
+
+struct vehicle {
+  struct coordinate *coord;
+  float direction;
+  float speed;
+  struct sensors *sensor;
+  struct blocks *path;
+  struct game_status *status;
+};
+
+struct game_status * greate_game_status();
+struct coordinate * create_coordinate(size_t dim_size);
+struct blocks * create_blocks(size_t nb_blocks, size_t dim_size);
+
+struct sensors * create_sensors(size_t nb_values);
+struct vehicle * create_vehicle( 
+  struct blocks *path
+);
+
+void free_game_status(struct game_status *status);
+void free_coordinate(struct coordinate *coord);
+void free_blocks(struct blocks *blk);
+
+void free_sensors(struct sensors *snsr);
+
+void free_vehicle(struct vehicle * vhcl);
+
+void update_bounds_limits_blocks(struct blocks * blk);
+
+int is_in_blocks(struct blocks *blk, struct coordinate *coord);
+
+void copy_coordinate(struct coordinate *coord, float *x);
+
+void move_vehicle(struct vehicle *v);
+void read_sensor(struct vehicle *v);
+void step(struct vehicle *v, int action);
+
+void reset(struct vehicle *v);
+
+void print2D_blocks_indexOne_withPoint(struct blocks *blk, float scale_x, float scale_y, struct coordinate *coordPoint);
+void print_vehicle_n_path(struct vehicle *v, float scale_x, float scale_y);
+
+float distance2_coordinate(struct coordinate *c0, struct coordinate *c1);
+
+void print2D_blocks(struct blocks *blk, float scale_x, float scale_y, char pad);
+void print2D_blocks_withPoint(struct blocks *blk, float scale_x, float scale_y, char pad, struct coordinate *coordPoint);
+
+#endif /* __VEHICLE__C_H__  */