update

perceptualrobots · Nov 2, 2023 · eb3eca3 · eb3eca3
1 parent 18b8322
commit eb3eca3
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Showing 5 changed files with 24 additions and 2 deletions.
diff --git a/nbs/04_hierarchy.ipynb b/nbs/04_hierarchy.ipynb
@@ -1085,6 +1085,14 @@
     "        return hierarchy, score    \n",
     "    \n",
     "\n",
+    "    @classmethod\n",
+    "    def get_environment_properties(cls, filename):\n",
+    "        \n",
+    "        prp = PCTRunProperties()\n",
+    "        prp.load_db(filename)\n",
+    "        environment_properties = eval(prp.db['environment_properties'])\n",
+    "    \n",
+    "        return environment_properties\n",
     "\n",
     "    @classmethod\n",
     "    def run_from_file(cls, filename, env_props=None, seed=None, render=False, history=False, move=None, plots=None, hpct_verbose= False, runs=None, outdir=None, early_termination = None, draw_file=None):\n",

diff --git a/nbs/12_yaw_module.ipynb b/nbs/12_yaw_module.ipynb
@@ -440,14 +440,16 @@
     "\n",
     "        # added wind speed\n",
     "        wind_speed = self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]\n",
-    "        yaw_error = oriented_angle(self.yaw_angle - self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean())\n",
+    "        yaw_error = abs(oriented_angle(self.yaw_angle - self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean()))\n",
     "        self.state = new_state\n",
     "\n",
     "        if self.reward_type=='surface2':\n",
     "            reward1 = -(yaw_error**3)\n",
     "            reward2 = -(yaw_error ** 2 * wind_speed ** 2)\n",
     "            reward3 = 1+self.w2 * (self.step_since_last_2 > self.filter_duration and self.step_since_last_0 > self.filter_duration)\n",
     "            reward = (reward1 + reward2)/reward3\n",
+    "        elif self.reward_type == 'power':\n",
+    "            reward = self.get_power(self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries],new_yaw_error) # power generated by turbine\n",
     "        else:    \n",
     "            reward1 = -self.wind_timeseries[\"wind_speed\"][self.index_wind_timeseries]**3 \\\n",
     "                    * oriented_angle(self.yaw_angle - self.wind_timeseries[\"wind_direction\"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean()) ** 2    \n",

diff --git a/pct/_modidx.py b/pct/_modidx.py
@@ -729,6 +729,8 @@
                                                                                        'pct/hierarchy.py'),
                                'pct.hierarchy.PCTHierarchy.get_environment': ( 'hierarchy.html#pcthierarchy.get_environment',
                                                                                'pct/hierarchy.py'),
+                               'pct.hierarchy.PCTHierarchy.get_environment_properties': ( 'hierarchy.html#pcthierarchy.get_environment_properties',
+                                                                                          'pct/hierarchy.py'),
                                'pct.hierarchy.PCTHierarchy.get_error_collector': ( 'hierarchy.html#pcthierarchy.get_error_collector',
                                                                                    'pct/hierarchy.py'),
                                'pct.hierarchy.PCTHierarchy.get_function': ('hierarchy.html#pcthierarchy.get_function', 'pct/hierarchy.py'),

diff --git a/pct/hierarchy.py b/pct/hierarchy.py
@@ -1007,6 +1007,14 @@ def run_from_config(cls, config, min, render=False,  error_collector_type=None,
         return hierarchy, score    
 
 
+    @classmethod
+    def get_environment_properties(cls, filename):
+
+        prp = PCTRunProperties()
+        prp.load_db(filename)
+        environment_properties = eval(prp.db['environment_properties'])
+
+        return environment_properties
 
     @classmethod
     def run_from_file(cls, filename, env_props=None, seed=None, render=False, history=False, move=None, plots=None, hpct_verbose= False, runs=None, outdir=None, early_termination = None, draw_file=None):

diff --git a/pct/yaw_module.py b/pct/yaw_module.py
@@ -342,14 +342,16 @@ def step(self, action):
 
         # added wind speed
         wind_speed = self.wind_timeseries["wind_speed"][self.index_wind_timeseries]
-        yaw_error = oriented_angle(self.yaw_angle - self.wind_timeseries["wind_direction"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean())
+        yaw_error = abs(oriented_angle(self.yaw_angle - self.wind_timeseries["wind_direction"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean()))
         self.state = new_state
 
         if self.reward_type=='surface2':
             reward1 = -(yaw_error**3)
             reward2 = -(yaw_error ** 2 * wind_speed ** 2)
             reward3 = 1+self.w2 * (self.step_since_last_2 > self.filter_duration and self.step_since_last_0 > self.filter_duration)
             reward = (reward1 + reward2)/reward3
+        elif self.reward_type == 'power':
+            reward = self.get_power(self.wind_timeseries["wind_speed"][self.index_wind_timeseries],new_yaw_error) # power generated by turbine
         else:    
             reward1 = -self.wind_timeseries["wind_speed"][self.index_wind_timeseries]**3 \
                     * oriented_angle(self.yaw_angle - self.wind_timeseries["wind_direction"][self.index_wind_timeseries:self.index_wind_timeseries+12].mean()) ** 2