WIP: Support different plan lengths

2022-02-25 01:32:43 +01:00
parent 02c1813b00
commit 5a5d8a7aff
1 changed files with 1 additions and 0 deletions
--- a/src/safe_options/options.py
+++ b/src/safe_options/options.py
@@ -191,6 +191,7 @@ class SafeOptionsEnv(OptionsEnv):
            return np.ones(len(self.options), dtype=bool)

        plans = [self.plan(o) for o in self.options]
+        plans = [np.pad(p, (0, self.max_plan_length - len(p)), constant_values=np.nan) for p in plans]
        plans = np.stack(plans)
        safe = feasible(self.env, plans, method=self.safe_actions_collision_method)
        if not safe.any():