lane snap back commented out

[zsunberg]

Hey Chris, I noticed that you had the code that stops the car when it gets to the middle of a lane commented out. Was it not working or producing some sort of bad side effect?

[cho3]

yeah I commented it out because it looks like it causes cars to not be able to lane change. If I don't comment it out, then cars will have the intention to lanechange, but I think the snapback causes them to not actually be able to do it. We should hash out what's going on and what it's supposed to do in more detail when we get the chance.

[cho3]

Example:

nb_lanes = 4
pp = PhysicalParam(nb_lanes,lane_length=100.)
_discount = 1.
nb_cars=10

rmodel = NoCrashRewardModel()

dmodel = NoCrashIDMMOBILModel(nb_cars, pp)

mdp = NoCrashMDP(dmodel, rmodel, _discount);

rng = MersenneTwister(5)

s = Multilane.MLState(false,[Multilane.CarState(50.0,3.0,27.0,0.0,Nullable{Multilane.BehaviorModel}(),1),Multilane.CarState(59.905098426169985,1.0,27.495354856644603,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,27.5,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,3)),2),Multilane.CarState(16.6617190807235,1.0,27.307205060490016,0.6666666666666666,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,31.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,6)),3),Multilane.CarState(66.6281925481095,4.0,32.4068374874881,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,35.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,8)),6),Multilane.CarState(0.3254588302155135,3.0,27.0,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,35.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,8)),7)])

a = Multilane.MLAction(-1.0,-0.6666666666666666)

sp = Multilane.MLState(false,[Multilane.CarState(50.0,3.0,27.0,-0.6666666666666666,Nullable{Multilane.BehaviorModel}(),1),Multilane.CarState(60.557864388240844,1.0,27.495354375544366,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,27.5,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,3)),2),Multilane.CarState(17.176857028673684,1.0,27.31649613404381,0.6666666666666666,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,31.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,6)),3),Multilane.CarState(71.07534849813908,4.0,32.70224504592412,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,35.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,8)),6),Multilane.CarState(0.5258422370435767,3.0,27.0,-0.6666666666666666,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,35.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,8)),7),Multilane.CarState(100.0,3.0,27.0,0.0,Nullable(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,35.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,8)),8)])

[cho3]

also when lanesnapback is commented out, there is some weird dithering behavior for some of the cars in the environment (go back and forth with half lane changes)

[zsunberg]

Fixed the snapping back. Don't know about the weird dithering

[cho3]

cool beans it works. Moving dithering to a new issue: #16