Core Package

l2r.core.controller

l2r.core.templates

Note

The templates module provides useful abstract classes which we recommend using for compatability with the RacingEnv.

class l2r.core.templates.AbstractAgent(*args, **kwargs)

Bases: abc.ABC

Abstract agent class. A potentially useful template for racing agents.

abstract select_action()

Select an action to take.

class l2r.core.templates.AbstractInterface(*args, **kwargs)

Bases: abc.ABC

Abstract simulator interface to receive data from the simulator.

abstract get_data()

This method is used to return the most up-to-date information from the interface.

abstract reset()

Used to reset the interface, often to clear existing data.

abstract start()

The start method is used to start communication with the simulator.

class l2r.core.templates.AbstractReward(*args, **kwargs)

Bases: abc.ABC

Abstract reward class. It is recommended that new reward policies follow this template so that they are compatible with the RacingEnv.

abstract get_reward(state, **kwargs)

Return the reward for the provided state.

Parameters

state (varies) – the current environment state

abstract reset()

Reset the reward policy.

set_track(inside_path, outside_path, centre_path, car_dims)

Store the track and vehicle information as class variables. This is useful for evaluating the reward based on the position of the vehicle.

Parameters

• inside_path (matplotlib.Path) – ENU coordinates of the inside track boundary

• outside_path (matplotlib.Path) – ENU coordinates of the outside track boundary

• centre_path (matplotlib.Path) – ENU coordinates of the track’s centerline

• car_dims (list) – dimensions of the vehicle in meters: [length, width]

l2r.core.tracker