reinforcement_learning/nstep_sarsa.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "import sys\n",
    "sys.path.append('../scripts/')\n",
    "from sarsa import *"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [],
   "source": [
    "class NstepSarsaAgent(SarsaAgent): \n",
    "    def __init__(self, time_interval, estimator, puddle_coef=100,  alpha=0.5, widths=np.array([0.2, 0.2, math.pi/18]).T, \\\n",
    "                 lowerleft=np.array([-4, -4]).T, upperright=np.array([4, 4]).T, dev_borders=[0.1,0.2,0.4,0.8], nstep=10): \n",
    "        super().__init__(time_interval, estimator, puddle_coef,  alpha, widths, lowerleft, upperright, dev_borders)\n",
    "        \n",
    "        self.s_trace = []\n",
    "        self.a_trace = []\n",
    "        self.r_trace = []\n",
    "        self.nstep = nstep\n",
    "        \n",
    "    def set_action_value_function(self): ###nstep_sarsa2agent\n",
    "        ss = {}\n",
    "        for index in self.indexes: \n",
    "            ss[index] = StateInfo(len(self.actions))\n",
    "            for i, a in enumerate(self.actions):\n",
    "                ss[index].q[i] = -1000.0\n",
    "                \n",
    "        return ss\n",
    "        \n",
    "    def decision(self, observation=None):\n",
    "        ##終了処理##\n",
    "        if self.update_end:  return 0.0, 0.0\n",
    "        if self.in_goal:          self.update_end = True\n",
    "        \n",
    "        ##カルマンフィルタの実行##\n",
    "        self.estimator.motion_update(self.prev_nu, self.prev_omega, self.time_interval)\n",
    "        self.estimator.observation_update(observation)\n",
    "        \n",
    "        ##行動決定と報酬の処理##\n",
    "        s_, a_ = self.policy(self.estimator.pose)\n",
    "        r = self.time_interval*self.reward_per_sec() \n",
    "        self.r_trace.append(r) #インデックスの整合性のためにrは先に登録しておく\n",
    "        self.total_reward += r\n",
    "        \n",
    "        ##s', a', rの記録とQ値の更新##\n",
    "        self.q_update(s_, a_, self.nstep)\n",
    "        self.s_trace.append(s_)\n",
    "        self.a_trace.append(a_)\n",
    "\n",
    "        ##出力##\n",
    "        self.prev_nu, self.prev_omega = self.actions[a_]\n",
    "        return self.actions[a_]\n",
    "\n",
    "    def q_update(self, s_, a_, n):\n",
    "        if n > len(self.s_trace) or n == 0: return\n",
    "        \n",
    "        s = self.s_trace[-n]\n",
    "        a = self.a_trace[-n]\n",
    "        \n",
    "        q = self.ss[s].q[a]\n",
    "        r = sum(self.r_trace[-n:])\n",
    "        q_ = self.final_value if self.in_goal else self.ss[s_].q[a_]\n",
    "        self.ss[s].q[a] = (1.0 - self.alpha)*q + self.alpha*(r + q_)\n",
    "        \n",
    "        if self.in_goal:\n",
    "            self.q_update(s_, a_, n-1)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [],
   "source": [
    "class WarpRobot2(WarpRobot): ###nstep_sarsa2warprobot2\n",
    "    def __init__(self, *args, **kwargs): \n",
    "        super().__init__(*args, **kwargs)\n",
    "        \n",
    "    def choose_pose(self): #初期位置を8x8[m]領域でランダムに変更\n",
    "        return np.array([random.random()*8-4, random.random()*8-4, random.random()*2*math.pi]).T\n",
    "    \n",
    "    def one_step(self, time_interval): #300ステップ（パラメータを変えるとずれるが30秒に相当）で打ち切る処理を追加\n",
    "        if self.agent.update_end:\n",
    "            with open(\"log.txt\", \"a\") as f:\n",
    "                f.write(\"{}\\n\".format(self.agent.total_reward + self.agent.final_value))\n",
    "            self.reset()\n",
    "            return\n",
    "        elif len(self.poses) >= 300:\n",
    "            with open(\"log.txt\", \"a\") as f:\n",
    "                f.write(\"DNF\\n\")\n",
    "            self.reset()\n",
    "            return\n",
    "        \n",
    "        super().one_step(time_interval)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {},
   "outputs": [
    {
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       "        '<div class=\"ui-dialog-titlebar ui-widget-header ui-corner-all ' +\n",
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       "        return fig.key_event(event, event['data']);\n",
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       "\n",
       "    canvas_div.keydown('key_press', canvas_keyboard_event);\n",
       "    canvas_div.keyup('key_release', canvas_keyboard_event);\n",
       "    this.canvas_div = canvas_div\n",
       "    this._canvas_extra_style(canvas_div)\n",
       "    this.root.append(canvas_div);\n",
       "\n",
       "    var canvas = $('<canvas/>');\n",
       "    canvas.addClass('mpl-canvas');\n",
       "    canvas.attr('style', \"left: 0; top: 0; z-index: 0; outline: 0\")\n",
       "\n",
       "    this.canvas = canvas[0];\n",
       "    this.context = canvas[0].getContext(\"2d\");\n",
       "\n",
       "    var backingStore = this.context.backingStorePixelRatio ||\n",
       "\tthis.context.webkitBackingStorePixelRatio ||\n",
       "\tthis.context.mozBackingStorePixelRatio ||\n",
       "\tthis.context.msBackingStorePixelRatio ||\n",
       "\tthis.context.oBackingStorePixelRatio ||\n",
       "\tthis.context.backingStorePixelRatio || 1;\n",
       "\n",
       "    mpl.ratio = (window.devicePixelRatio || 1) / backingStore;\n",
       "\n",
       "    var rubberband = $('<canvas/>');\n",
       "    rubberband.attr('style', \"position: absolute; left: 0; top: 0; z-index: 1;\")\n",
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       "\n",
       "    rubberband.mousedown('button_press', mouse_event_fn);\n",
       "    rubberband.mouseup('button_release', mouse_event_fn);\n",
       "    // Throttle sequential mouse events to 1 every 20ms.\n",
       "    rubberband.mousemove('motion_notify', mouse_event_fn);\n",
       "\n",
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       "\n",
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       "        // Keep the size of the canvas, canvas container, and rubber band\n",
       "        // canvas in synch.\n",
       "        canvas_div.css('width', width)\n",
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       "\n",
       "        canvas.attr('width', width * mpl.ratio);\n",
       "        canvas.attr('height', height * mpl.ratio);\n",
       "        canvas.attr('style', 'width: ' + width + 'px; height: ' + height + 'px;');\n",
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       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
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       "\n",
       "    var nav_element = $('<div/>')\n",
       "    nav_element.attr('style', 'width: 100%');\n",
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       "        return fig.toolbar_button_onclick(event['data']);\n",
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       "\n",
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       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
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       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) {\n",
       "            // put a spacer in here.\n",
       "            continue;\n",
       "        }\n",
       "        var button = $('<button/>');\n",
       "        button.addClass('ui-button ui-widget ui-state-default ui-corner-all ' +\n",
       "                        'ui-button-icon-only');\n",
       "        button.attr('role', 'button');\n",
       "        button.attr('aria-disabled', 'false');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "\n",
       "        var icon_img = $('<span/>');\n",
       "        icon_img.addClass('ui-button-icon-primary ui-icon');\n",
       "        icon_img.addClass(image);\n",
       "        icon_img.addClass('ui-corner-all');\n",
       "\n",
       "        var tooltip_span = $('<span/>');\n",
       "        tooltip_span.addClass('ui-button-text');\n",
       "        tooltip_span.html(tooltip);\n",
       "\n",
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       "        button.append(tooltip_span);\n",
       "\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    var fmt_picker_span = $('<span/>');\n",
       "\n",
       "    var fmt_picker = $('<select/>');\n",
       "    fmt_picker.addClass('mpl-toolbar-option ui-widget ui-widget-content');\n",
       "    fmt_picker_span.append(fmt_picker);\n",
       "    nav_element.append(fmt_picker_span);\n",
       "    this.format_dropdown = fmt_picker[0];\n",
       "\n",
       "    for (var ind in mpl.extensions) {\n",
       "        var fmt = mpl.extensions[ind];\n",
       "        var option = $(\n",
       "            '<option/>', {selected: fmt === mpl.default_extension}).html(fmt);\n",
       "        fmt_picker.append(option)\n",
       "    }\n",
       "\n",
       "    // Add hover states to the ui-buttons\n",
       "    $( \".ui-button\" ).hover(\n",
       "        function() { $(this).addClass(\"ui-state-hover\");},\n",
       "        function() { $(this).removeClass(\"ui-state-hover\");}\n",
       "    );\n",
       "\n",
       "    var status_bar = $('<span class=\"mpl-message\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.request_resize = function(x_pixels, y_pixels) {\n",
       "    // Request matplotlib to resize the figure. Matplotlib will then trigger a resize in the client,\n",
       "    // which will in turn request a refresh of the image.\n",
       "    this.send_message('resize', {'width': x_pixels, 'height': y_pixels});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_message = function(type, properties) {\n",
       "    properties['type'] = type;\n",
       "    properties['figure_id'] = this.id;\n",
       "    this.ws.send(JSON.stringify(properties));\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.send_draw_message = function() {\n",
       "    if (!this.waiting) {\n",
       "        this.waiting = true;\n",
       "        this.ws.send(JSON.stringify({type: \"draw\", figure_id: this.id}));\n",
       "    }\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    var format_dropdown = fig.format_dropdown;\n",
       "    var format = format_dropdown.options[format_dropdown.selectedIndex].value;\n",
       "    fig.ondownload(fig, format);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.figure.prototype.handle_resize = function(fig, msg) {\n",
       "    var size = msg['size'];\n",
       "    if (size[0] != fig.canvas.width || size[1] != fig.canvas.height) {\n",
       "        fig._resize_canvas(size[0], size[1]);\n",
       "        fig.send_message(\"refresh\", {});\n",
       "    };\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_rubberband = function(fig, msg) {\n",
       "    var x0 = msg['x0'] / mpl.ratio;\n",
       "    var y0 = (fig.canvas.height - msg['y0']) / mpl.ratio;\n",
       "    var x1 = msg['x1'] / mpl.ratio;\n",
       "    var y1 = (fig.canvas.height - msg['y1']) / mpl.ratio;\n",
       "    x0 = Math.floor(x0) + 0.5;\n",
       "    y0 = Math.floor(y0) + 0.5;\n",
       "    x1 = Math.floor(x1) + 0.5;\n",
       "    y1 = Math.floor(y1) + 0.5;\n",
       "    var min_x = Math.min(x0, x1);\n",
       "    var min_y = Math.min(y0, y1);\n",
       "    var width = Math.abs(x1 - x0);\n",
       "    var height = Math.abs(y1 - y0);\n",
       "\n",
       "    fig.rubberband_context.clearRect(\n",
       "        0, 0, fig.canvas.width, fig.canvas.height);\n",
       "\n",
       "    fig.rubberband_context.strokeRect(min_x, min_y, width, height);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_figure_label = function(fig, msg) {\n",
       "    // Updates the figure title.\n",
       "    fig.header.textContent = msg['label'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_cursor = function(fig, msg) {\n",
       "    var cursor = msg['cursor'];\n",
       "    switch(cursor)\n",
       "    {\n",
       "    case 0:\n",
       "        cursor = 'pointer';\n",
       "        break;\n",
       "    case 1:\n",
       "        cursor = 'default';\n",
       "        break;\n",
       "    case 2:\n",
       "        cursor = 'crosshair';\n",
       "        break;\n",
       "    case 3:\n",
       "        cursor = 'move';\n",
       "        break;\n",
       "    }\n",
       "    fig.rubberband_canvas.style.cursor = cursor;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_message = function(fig, msg) {\n",
       "    fig.message.textContent = msg['message'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_draw = function(fig, msg) {\n",
       "    // Request the server to send over a new figure.\n",
       "    fig.send_draw_message();\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_image_mode = function(fig, msg) {\n",
       "    fig.image_mode = msg['mode'];\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Called whenever the canvas gets updated.\n",
       "    this.send_message(\"ack\", {});\n",
       "}\n",
       "\n",
       "// A function to construct a web socket function for onmessage handling.\n",
       "// Called in the figure constructor.\n",
       "mpl.figure.prototype._make_on_message_function = function(fig) {\n",
       "    return function socket_on_message(evt) {\n",
       "        if (evt.data instanceof Blob) {\n",
       "            /* FIXME: We get \"Resource interpreted as Image but\n",
       "             * transferred with MIME type text/plain:\" errors on\n",
       "             * Chrome.  But how to set the MIME type?  It doesn't seem\n",
       "             * to be part of the websocket stream */\n",
       "            evt.data.type = \"image/png\";\n",
       "\n",
       "            /* Free the memory for the previous frames */\n",
       "            if (fig.imageObj.src) {\n",
       "                (window.URL || window.webkitURL).revokeObjectURL(\n",
       "                    fig.imageObj.src);\n",
       "            }\n",
       "\n",
       "            fig.imageObj.src = (window.URL || window.webkitURL).createObjectURL(\n",
       "                evt.data);\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "        else if (typeof evt.data === 'string' && evt.data.slice(0, 21) == \"data:image/png;base64\") {\n",
       "            fig.imageObj.src = evt.data;\n",
       "            fig.updated_canvas_event();\n",
       "            fig.waiting = false;\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        var msg = JSON.parse(evt.data);\n",
       "        var msg_type = msg['type'];\n",
       "\n",
       "        // Call the  \"handle_{type}\" callback, which takes\n",
       "        // the figure and JSON message as its only arguments.\n",
       "        try {\n",
       "            var callback = fig[\"handle_\" + msg_type];\n",
       "        } catch (e) {\n",
       "            console.log(\"No handler for the '\" + msg_type + \"' message type: \", msg);\n",
       "            return;\n",
       "        }\n",
       "\n",
       "        if (callback) {\n",
       "            try {\n",
       "                // console.log(\"Handling '\" + msg_type + \"' message: \", msg);\n",
       "                callback(fig, msg);\n",
       "            } catch (e) {\n",
       "                console.log(\"Exception inside the 'handler_\" + msg_type + \"' callback:\", e, e.stack, msg);\n",
       "            }\n",
       "        }\n",
       "    };\n",
       "}\n",
       "\n",
       "// from http://stackoverflow.com/questions/1114465/getting-mouse-location-in-canvas\n",
       "mpl.findpos = function(e) {\n",
       "    //this section is from http://www.quirksmode.org/js/events_properties.html\n",
       "    var targ;\n",
       "    if (!e)\n",
       "        e = window.event;\n",
       "    if (e.target)\n",
       "        targ = e.target;\n",
       "    else if (e.srcElement)\n",
       "        targ = e.srcElement;\n",
       "    if (targ.nodeType == 3) // defeat Safari bug\n",
       "        targ = targ.parentNode;\n",
       "\n",
       "    // jQuery normalizes the pageX and pageY\n",
       "    // pageX,Y are the mouse positions relative to the document\n",
       "    // offset() returns the position of the element relative to the document\n",
       "    var x = e.pageX - $(targ).offset().left;\n",
       "    var y = e.pageY - $(targ).offset().top;\n",
       "\n",
       "    return {\"x\": x, \"y\": y};\n",
       "};\n",
       "\n",
       "/*\n",
       " * return a copy of an object with only non-object keys\n",
       " * we need this to avoid circular references\n",
       " * http://stackoverflow.com/a/24161582/3208463\n",
       " */\n",
       "function simpleKeys (original) {\n",
       "  return Object.keys(original).reduce(function (obj, key) {\n",
       "    if (typeof original[key] !== 'object')\n",
       "        obj[key] = original[key]\n",
       "    return obj;\n",
       "  }, {});\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.mouse_event = function(event, name) {\n",
       "    var canvas_pos = mpl.findpos(event)\n",
       "\n",
       "    if (name === 'button_press')\n",
       "    {\n",
       "        this.canvas.focus();\n",
       "        this.canvas_div.focus();\n",
       "    }\n",
       "\n",
       "    var x = canvas_pos.x * mpl.ratio;\n",
       "    var y = canvas_pos.y * mpl.ratio;\n",
       "\n",
       "    this.send_message(name, {x: x, y: y, button: event.button,\n",
       "                             step: event.step,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "\n",
       "    /* This prevents the web browser from automatically changing to\n",
       "     * the text insertion cursor when the button is pressed.  We want\n",
       "     * to control all of the cursor setting manually through the\n",
       "     * 'cursor' event from matplotlib */\n",
       "    event.preventDefault();\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    // Handle any extra behaviour associated with a key event\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.key_event = function(event, name) {\n",
       "\n",
       "    // Prevent repeat events\n",
       "    if (name == 'key_press')\n",
       "    {\n",
       "        if (event.which === this._key)\n",
       "            return;\n",
       "        else\n",
       "            this._key = event.which;\n",
       "    }\n",
       "    if (name == 'key_release')\n",
       "        this._key = null;\n",
       "\n",
       "    var value = '';\n",
       "    if (event.ctrlKey && event.which != 17)\n",
       "        value += \"ctrl+\";\n",
       "    if (event.altKey && event.which != 18)\n",
       "        value += \"alt+\";\n",
       "    if (event.shiftKey && event.which != 16)\n",
       "        value += \"shift+\";\n",
       "\n",
       "    value += 'k';\n",
       "    value += event.which.toString();\n",
       "\n",
       "    this._key_event_extra(event, name);\n",
       "\n",
       "    this.send_message(name, {key: value,\n",
       "                             guiEvent: simpleKeys(event)});\n",
       "    return false;\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onclick = function(name) {\n",
       "    if (name == 'download') {\n",
       "        this.handle_save(this, null);\n",
       "    } else {\n",
       "        this.send_message(\"toolbar_button\", {name: name});\n",
       "    }\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.toolbar_button_onmouseover = function(tooltip) {\n",
       "    this.message.textContent = tooltip;\n",
       "};\n",
       "mpl.toolbar_items = [[\"Home\", \"Reset original view\", \"fa fa-home icon-home\", \"home\"], [\"Back\", \"Back to previous view\", \"fa fa-arrow-left icon-arrow-left\", \"back\"], [\"Forward\", \"Forward to next view\", \"fa fa-arrow-right icon-arrow-right\", \"forward\"], [\"\", \"\", \"\", \"\"], [\"Pan\", \"Pan axes with left mouse, zoom with right\", \"fa fa-arrows icon-move\", \"pan\"], [\"Zoom\", \"Zoom to rectangle\", \"fa fa-square-o icon-check-empty\", \"zoom\"], [\"\", \"\", \"\", \"\"], [\"Download\", \"Download plot\", \"fa fa-floppy-o icon-save\", \"download\"]];\n",
       "\n",
       "mpl.extensions = [\"eps\", \"pdf\", \"png\", \"ps\", \"raw\", \"svg\"];\n",
       "\n",
       "mpl.default_extension = \"png\";var comm_websocket_adapter = function(comm) {\n",
       "    // Create a \"websocket\"-like object which calls the given IPython comm\n",
       "    // object with the appropriate methods. Currently this is a non binary\n",
       "    // socket, so there is still some room for performance tuning.\n",
       "    var ws = {};\n",
       "\n",
       "    ws.close = function() {\n",
       "        comm.close()\n",
       "    };\n",
       "    ws.send = function(m) {\n",
       "        //console.log('sending', m);\n",
       "        comm.send(m);\n",
       "    };\n",
       "    // Register the callback with on_msg.\n",
       "    comm.on_msg(function(msg) {\n",
       "        //console.log('receiving', msg['content']['data'], msg);\n",
       "        // Pass the mpl event to the overridden (by mpl) onmessage function.\n",
       "        ws.onmessage(msg['content']['data'])\n",
       "    });\n",
       "    return ws;\n",
       "}\n",
       "\n",
       "mpl.mpl_figure_comm = function(comm, msg) {\n",
       "    // This is the function which gets called when the mpl process\n",
       "    // starts-up an IPython Comm through the \"matplotlib\" channel.\n",
       "\n",
       "    var id = msg.content.data.id;\n",
       "    // Get hold of the div created by the display call when the Comm\n",
       "    // socket was opened in Python.\n",
       "    var element = $(\"#\" + id);\n",
       "    var ws_proxy = comm_websocket_adapter(comm)\n",
       "\n",
       "    function ondownload(figure, format) {\n",
       "        window.open(figure.imageObj.src);\n",
       "    }\n",
       "\n",
       "    var fig = new mpl.figure(id, ws_proxy,\n",
       "                           ondownload,\n",
       "                           element.get(0));\n",
       "\n",
       "    // Call onopen now - mpl needs it, as it is assuming we've passed it a real\n",
       "    // web socket which is closed, not our websocket->open comm proxy.\n",
       "    ws_proxy.onopen();\n",
       "\n",
       "    fig.parent_element = element.get(0);\n",
       "    fig.cell_info = mpl.find_output_cell(\"<div id='\" + id + \"'></div>\");\n",
       "    if (!fig.cell_info) {\n",
       "        console.error(\"Failed to find cell for figure\", id, fig);\n",
       "        return;\n",
       "    }\n",
       "\n",
       "    var output_index = fig.cell_info[2]\n",
       "    var cell = fig.cell_info[0];\n",
       "\n",
       "};\n",
       "\n",
       "mpl.figure.prototype.handle_close = function(fig, msg) {\n",
       "    var width = fig.canvas.width/mpl.ratio\n",
       "    fig.root.unbind('remove')\n",
       "\n",
       "    // Update the output cell to use the data from the current canvas.\n",
       "    fig.push_to_output();\n",
       "    var dataURL = fig.canvas.toDataURL();\n",
       "    // Re-enable the keyboard manager in IPython - without this line, in FF,\n",
       "    // the notebook keyboard shortcuts fail.\n",
       "    IPython.keyboard_manager.enable()\n",
       "    $(fig.parent_element).html('<img src=\"' + dataURL + '\" width=\"' + width + '\">');\n",
       "    fig.close_ws(fig, msg);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.close_ws = function(fig, msg){\n",
       "    fig.send_message('closing', msg);\n",
       "    // fig.ws.close()\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.push_to_output = function(remove_interactive) {\n",
       "    // Turn the data on the canvas into data in the output cell.\n",
       "    var width = this.canvas.width/mpl.ratio\n",
       "    var dataURL = this.canvas.toDataURL();\n",
       "    this.cell_info[1]['text/html'] = '<img src=\"' + dataURL + '\" width=\"' + width + '\">';\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.updated_canvas_event = function() {\n",
       "    // Tell IPython that the notebook contents must change.\n",
       "    IPython.notebook.set_dirty(true);\n",
       "    this.send_message(\"ack\", {});\n",
       "    var fig = this;\n",
       "    // Wait a second, then push the new image to the DOM so\n",
       "    // that it is saved nicely (might be nice to debounce this).\n",
       "    setTimeout(function () { fig.push_to_output() }, 1000);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._init_toolbar = function() {\n",
       "    var fig = this;\n",
       "\n",
       "    var nav_element = $('<div/>')\n",
       "    nav_element.attr('style', 'width: 100%');\n",
       "    this.root.append(nav_element);\n",
       "\n",
       "    // Define a callback function for later on.\n",
       "    function toolbar_event(event) {\n",
       "        return fig.toolbar_button_onclick(event['data']);\n",
       "    }\n",
       "    function toolbar_mouse_event(event) {\n",
       "        return fig.toolbar_button_onmouseover(event['data']);\n",
       "    }\n",
       "\n",
       "    for(var toolbar_ind in mpl.toolbar_items){\n",
       "        var name = mpl.toolbar_items[toolbar_ind][0];\n",
       "        var tooltip = mpl.toolbar_items[toolbar_ind][1];\n",
       "        var image = mpl.toolbar_items[toolbar_ind][2];\n",
       "        var method_name = mpl.toolbar_items[toolbar_ind][3];\n",
       "\n",
       "        if (!name) { continue; };\n",
       "\n",
       "        var button = $('<button class=\"btn btn-default\" href=\"#\" title=\"' + name + '\"><i class=\"fa ' + image + ' fa-lg\"></i></button>');\n",
       "        button.click(method_name, toolbar_event);\n",
       "        button.mouseover(tooltip, toolbar_mouse_event);\n",
       "        nav_element.append(button);\n",
       "    }\n",
       "\n",
       "    // Add the status bar.\n",
       "    var status_bar = $('<span class=\"mpl-message\" style=\"text-align:right; float: right;\"/>');\n",
       "    nav_element.append(status_bar);\n",
       "    this.message = status_bar[0];\n",
       "\n",
       "    // Add the close button to the window.\n",
       "    var buttongrp = $('<div class=\"btn-group inline pull-right\"></div>');\n",
       "    var button = $('<button class=\"btn btn-mini btn-primary\" href=\"#\" title=\"Stop Interaction\"><i class=\"fa fa-power-off icon-remove icon-large\"></i></button>');\n",
       "    button.click(function (evt) { fig.handle_close(fig, {}); } );\n",
       "    button.mouseover('Stop Interaction', toolbar_mouse_event);\n",
       "    buttongrp.append(button);\n",
       "    var titlebar = this.root.find($('.ui-dialog-titlebar'));\n",
       "    titlebar.prepend(buttongrp);\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._root_extra_style = function(el){\n",
       "    var fig = this\n",
       "    el.on(\"remove\", function(){\n",
       "\tfig.close_ws(fig, {});\n",
       "    });\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._canvas_extra_style = function(el){\n",
       "    // this is important to make the div 'focusable\n",
       "    el.attr('tabindex', 0)\n",
       "    // reach out to IPython and tell the keyboard manager to turn it's self\n",
       "    // off when our div gets focus\n",
       "\n",
       "    // location in version 3\n",
       "    if (IPython.notebook.keyboard_manager) {\n",
       "        IPython.notebook.keyboard_manager.register_events(el);\n",
       "    }\n",
       "    else {\n",
       "        // location in version 2\n",
       "        IPython.keyboard_manager.register_events(el);\n",
       "    }\n",
       "\n",
       "}\n",
       "\n",
       "mpl.figure.prototype._key_event_extra = function(event, name) {\n",
       "    var manager = IPython.notebook.keyboard_manager;\n",
       "    if (!manager)\n",
       "        manager = IPython.keyboard_manager;\n",
       "\n",
       "    // Check for shift+enter\n",
       "    if (event.shiftKey && event.which == 13) {\n",
       "        this.canvas_div.blur();\n",
       "        event.shiftKey = false;\n",
       "        // Send a \"J\" for go to next cell\n",
       "        event.which = 74;\n",
       "        event.keyCode = 74;\n",
       "        manager.command_mode();\n",
       "        manager.handle_keydown(event);\n",
       "    }\n",
       "}\n",
       "\n",
       "mpl.figure.prototype.handle_save = function(fig, msg) {\n",
       "    fig.ondownload(fig, null);\n",
       "}\n",
       "\n",
       "\n",
       "mpl.find_output_cell = function(html_output) {\n",
       "    // Return the cell and output element which can be found *uniquely* in the notebook.\n",
       "    // Note - this is a bit hacky, but it is done because the \"notebook_saving.Notebook\"\n",
       "    // IPython event is triggered only after the cells have been serialised, which for\n",
       "    // our purposes (turning an active figure into a static one), is too late.\n",
       "    var cells = IPython.notebook.get_cells();\n",
       "    var ncells = cells.length;\n",
       "    for (var i=0; i<ncells; i++) {\n",
       "        var cell = cells[i];\n",
       "        if (cell.cell_type === 'code'){\n",
       "            for (var j=0; j<cell.output_area.outputs.length; j++) {\n",
       "                var data = cell.output_area.outputs[j];\n",
       "                if (data.data) {\n",
       "                    // IPython >= 3 moved mimebundle to data attribute of output\n",
       "                    data = data.data;\n",
       "                }\n",
       "                if (data['text/html'] == html_output) {\n",
       "                    return [cell, data, j];\n",
       "                }\n",
       "            }\n",
       "        }\n",
       "    }\n",
       "}\n",
       "\n",
       "// Register the function which deals with the matplotlib target/channel.\n",
       "// The kernel may be null if the page has been refreshed.\n",
       "if (IPython.notebook.kernel != null) {\n",
       "    IPython.notebook.kernel.comm_manager.register_target('matplotlib', mpl.mpl_figure_comm);\n",
       "}\n"
      ],
      "text/plain": [
       "<IPython.core.display.Javascript object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
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\" width=\"400\">"
      ],
      "text/plain": [
       "<IPython.core.display.HTML object>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "def trial(): \n",
    "    time_interval = 0.1\n",
    "    world = PuddleWorld(400000, time_interval, debug=False)  #長時間アニメーション時間をとる\n",
    "\n",
    "    ## 地図を生成して3つランドマークを追加 ##\n",
    "    m = Map()\n",
    "    for ln in [(-4,2), (2,-3), (4,4), (-4,-4)]: m.append_landmark(Landmark(*ln))\n",
    "    world.append(m)   \n",
    "\n",
    "    ##ゴールの追加##\n",
    "    goal = Goal(-3,-3) \n",
    "    world.append(goal)\n",
    "    \n",
    "    ##水たまりの追加##\n",
    "    world.append(Puddle((-2, 0), (0, 2), 0.1)) \n",
    "    world.append(Puddle((-0.5, -2), (2.5, 1), 0.1)) \n",
    "\n",
    "    ##ロボットを1台登場させる##\n",
    "    init_pose = np.array([3, 3, 0]).T\n",
    "    kf = KalmanFilter(m, init_pose)\n",
    "    a = NstepSarsaAgent(time_interval, kf)\n",
    "    r = WarpRobot2(init_pose, sensor=Camera(m, distance_bias_rate_stddev=0, direction_bias_stddev=0), \n",
    "              agent=a, color=\"red\", bias_rate_stds=(0,0))\n",
    "    world.append(r)\n",
    "    \n",
    "    world.draw()\n",
    "    return a\n",
    "    \n",
    "a = trial()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 3
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.7.0"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}