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Merge branch 'main' of github.com:andrejcarlo/TrajectoryGamesBase.jl
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‎.github/workflows/ci.yml‎

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@@ -14,12 +14,11 @@ jobs:
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with:
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version: ${{ matrix.julia_version }}
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- uses: julia-actions/cache@v1
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- uses: julia-actions/julia-runtest@latest
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- uses: julia-actions/julia-runtest@v1
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- uses: julia-actions/julia-processcoverage@v1
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- uses: codecov/codecov-action@v3
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- uses: codecov/codecov-action@v4
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with:
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token: ${{ secrets.CODECOV_TOKEN }}
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file: ./lcov.info
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flags: unittests
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name: codecov-umbrella
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fail_ci_if_error: true

‎README.md‎

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# TrajectoryGamesBase
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[![CI](https://github.com/lassepe/TrajectoryGamesBase.jl/actions/workflows/ci.yml/badge.svg)](https://github.com/lassepe/TrajectoryGamesBase.jl/actions/workflows/ci.yml)
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[![codecov](https://codecov.io/gh/lassepe/TrajectoryGamesBase.jl/branch/main/graph/badge.svg?token=BkJUwW6V1K)](https://codecov.io/gh/lassepe/TrajectoryGamesBase.jl)
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[![CI](https://github.com/JuliaGameTheoreticPlanning/TrajectoryGamesBase.jl/actions/workflows/ci.yml/badge.svg)](https://github.com/JuliaGameTheoreticPlanning/TrajectoryGamesBase.jl/actions/workflows/ci.yml)
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[![codecov](https://codecov.io/gh/JuliaGameTheoreticPlanning/TrajectoryGamesBase.jl/branch/main/graph/badge.svg?token=BkJUwW6V1K)](https://codecov.io/gh/JuliaGameTheoreticPlanning/TrajectoryGamesBase.jl)
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[![License](https://img.shields.io/badge/license-MIT-blue)](https://opensource.org/licenses/MIT)
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A package that contains the problem interface and related types for trajectory games. The trajectory games considered here are played over continuous action spaces in *discrete time*. That is, this package currently does not support differential games.
@@ -11,8 +11,8 @@ Note that this package does not contain any solver code. It merely serves as abs
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## Eco-System
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- [MCPTrajectoryGameSolver.jl](https://github.com/JuliaGameTheoreticPlanning/MCPTrajectoryGameSolver.jl): A solver for trajectory games by casting them as mixed complementarity problems. See that package for a complete usage demo of the `TrajectoryGamesBase` interface.
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- [TrajectoryGamesExamples.jl](https://github.com/lassepe/TrajectoryGamesExamples.jl): A package that provides examples of trajectory games and tools for modeling and visualization.
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- [LiftedTrajectoryGames.jl](https://github.com/lassepe/LiftedTrajectoryGames.jl): A package for learning mixed strategy solutions of trajectory games.
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- [TrajectoryGamesExamples.jl](https://github.com/JuliaGameTheoreticPlanning/TrajectoryGamesExamples.jl): A package that provides examples of trajectory games and tools for modeling and visualization.
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- [LiftedTrajectoryGames.jl](https://github.com/JuliaGameTheoreticPlanning/LiftedTrajectoryGames.jl): A package for learning mixed strategy solutions of trajectory games.
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If you have a package that uses `TrajectoryGamesBase` and would like to have it listed here, please open an issue or a pull request.
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‎ext/MakieVizExt.jl‎

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@@ -55,18 +55,13 @@ function Makie.plot!(viz::OpenLoopStrategyViz{<:Tuple{TrajectoryGamesBase.OpenLo
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begin
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starttime = something($(viz.starttime), firstindex($strategy.xs))
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endtime = something($(viz.endtime), lastindex($strategy.xs))
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if $(viz.dimensionality) == 3
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[
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Makie.Point3f(xi[1], xi[2], xi[3]) for
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xi in $strategy.xs[starttime:($(viz.position_subsampling)):endtime]
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]
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elseif $(viz.dimensionality) == 2
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[
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Makie.Point2f(xi[1], xi[2]) for
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xi in $strategy.xs[starttime:($(viz.position_subsampling)):endtime]
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]
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subsampled_states = $strategy.xs[starttime:($(viz.position_subsampling)):endtime]
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if $(viz.dimensionality) == 2
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[Makie.Point2f(xi[2], xi[1]) for xi in subsampled_states]
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elseif $(viz.dimensionality) == 3
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[Makie.Point3f(xi[1], xi[2], xi[3]) for xi in subsampled_states]
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else
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error("Unsupported vizualisation dimensionality: $(viz.dimensionality)")
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throw(ArgumentError("Unsupported vizualisation dimensionality: $(viz.dimensionality)"))
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end
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end
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)

‎test/.JuliaFormatter.toml‎

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../.JuliaFormatter.toml

‎test/runtests.jl‎

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@@ -4,7 +4,7 @@ using BlockArrays: Block, eachblock, mortar, blocklength
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using LinearAlgebra: norm, norm_sqr
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using Makie: Makie
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function setup_tag_examples(; Δt=0.1)
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function setup_tag_examples(; Δt = 0.1)
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dynamics = let
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A = [
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1 0 Δt 0
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env = PolygonEnvironment()
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generic_game = TrajectoryGame(; dynamics, cost=generic_cost, env)
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time_separable_game = TrajectoryGame(; dynamics, cost=time_separable_cost, env)
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generic_game = TrajectoryGame(; dynamics, cost = generic_cost, env)
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time_separable_game = TrajectoryGame(; dynamics, cost = time_separable_cost, env)
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(; generic_game, time_separable_game)
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end
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using Test: @test
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const trivial_strategy = let
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xs = [zeros(4) for _ in 1:20]
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xs = [ones(4) for _ in 1:20]
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us = [zeros(2) for _ in 1:20]
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TrajectoryGamesBase.OpenLoopStrategy(xs, us)
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end
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solver,
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game,
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initial_state;
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initial_guess=nothing
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initial_guess = nothing,
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)
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@test !isnothing(initial_guess)
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TrajectoryGamesBase.JointStrategy([trivial_strategy, trivial_strategy])
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@testset "receding horizon utils" begin
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receding_horizon_strategy = TrajectoryGamesBase.RecedingHorizonStrategy(;
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solver=Mock.Solver(),
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solver = Mock.Solver(),
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game,
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turn_length=2,
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generate_initial_guess=(last_strategy, state, time) -> :foo
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turn_length = 2,
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generate_initial_guess = (last_strategy, state, time) -> :foo,
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)
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receding_steps = rollout(game.dynamics, receding_horizon_strategy, x1, horizon)
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receding_steps_skipped = rollout(
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game.dynamics,
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receding_horizon_strategy,
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x1,
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horizon;
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skip_last_strategy_call=true
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skip_last_strategy_call = true,
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)
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@test receding_steps == trivial_steps
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@test receding_steps_skipped.xs == trivial_steps.xs
158-
@test receding_steps_skipped.us == trivial_steps.us[1:(end-1)]
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@test receding_steps_skipped.us == trivial_steps.us[1:(end - 1)]
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end
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end
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end
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@testset "visualization" begin
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trivial_joint_strategy = JointStrategy([Mock.trivial_strategy, Mock.trivial_strategy])
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166-
environment = PolygonEnvironment()
167-
Makie.plot(environment)
168-
Makie.plot!(Mock.trivial_strategy)
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Makie.plot!(trivial_joint_strategy)
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@testset "2D visaulziation" begin
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environment = PolygonEnvironment()
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Makie.plot(environment)
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Makie.plot!(Mock.trivial_strategy)
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Makie.plot!(trivial_joint_strategy)
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end
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@testset "3D visualization" begin
174+
figure = Makie.Figure()
175+
axis3 = Makie.Axis3(figure[1, 1])
176+
Makie.plot!(Mock.trivial_strategy; dimensionality = 3)
177+
Makie.plot!(
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trivial_joint_strategy;
179+
substrategy_attributes = [
180+
(; dimensionality = 3) for _ in trivial_joint_strategy.substrategies
181+
],
182+
)
183+
end
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end
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@testset "trajectory utils" begin
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@testset "flatten and unflatten trajectory" begin
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flat_trajectory = [1:60;]
218-
unflattened_trajectory = TrajectoryGamesBase.unflatten_trajectory(
219-
flat_trajectory,
220-
4,
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2
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)
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unflattened_trajectory = TrajectoryGamesBase.unflatten_trajectory(flat_trajectory, 4, 2)
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@test length(unflattened_trajectory.xs) == 10
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@test length(unflattened_trajectory.us) == 10

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