when using IDM expert, update interaction graph in order to correctly display ego target agent

2022-10-04 20:51:19 +02:00
parent 5fb358d725
commit dd201738cb
1 changed files with 1 additions and 0 deletions
--- a/src/baselines/rule_policies.py
+++ b/src/baselines/rule_policies.py
@@ -172,6 +172,7 @@ class IDMRulePolicy(BaseAlgorithm):

            # Update environment interaction graph with leader
            self._env._env._graph._neighbor_dict={agent:[leader]}
+            self._env._update_graph = True

            delta_v = v_ego - v[leader, 0]
            d_des = self.d_min + self.tau * v_ego + v_ego * delta_v / (2* (self.a_max*self.b_pref)**0.5 )