Social_Gracefulness_of_Autonomous_Systems/sim_data.py at master · DesignInformaticsLab/Social_Gracefulness_of_Autonomous_Systems · GitHub

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import pickle

class Sim_Data():

    def __init__(self):

        self.car1_states = [] #actual states
        self.car1_actions = []#actual actions (converted from trajectory)
        self.car1_theta = [] #this is constant for now
        self.car1_planned_action_sets = []
        self.car1_planned_trajectory_set = []
        self.car1_predicted_theta_other = [] #my prediction of the agents theta
        self.car1_predicted_theta_self = []  # my prediction of the other's prediction of my theta
        self.car1_predicted_actions_other = []  # converted from above
        self.car1_predicted_others_prediction_of_my_actions = []
        self.car1_wanted_trajectory_self = []
        self.car1_wanted_trajectory_other = []
        self.car1_wanted_states_other = []
        self.car1_inference_probability = []
        self.car1_inference_probability_proactive = []
        self.car1_theta_probability = []
        self.car1_gracefulness = []

        self.car2_states = []  # actual states
        self.car2_actions = []  # actual actions (converted from trajectory)
        self.car2_theta = []  # this is constant for now
        self.car2_planned_action_sets = []
        self.car2_planned_trajectory_set = []
        self.car2_predicted_theta_other = []  # my prediction of the agents theta
        self.car2_predicted_theta_self = []  # my prediction of the other's prediction of my theta
        self.car2_predicted_actions_other = []  # converted from above
        self.car2_predicted_others_prediction_of_my_actions = []
        self.car2_wanted_trajectory_self = []
        self.car2_wanted_trajectory_other = []
        self.car2_wanted_states_other = []
        self.car2_inference_probability = []
        self.car2_inference_probability_proactive = []
        self.car2_theta_probability = []

    def append_car1(self, states, actions, action_sets, trajectory, predicted_theta_other, predicted_theta_self,
                    predicted_actions_other, predicted_others_prediction_of_my_actions, wanted_trajectory_self,
                    wanted_trajectory_other, wanted_states_other, inference_probability, inference_probability_proactive,
                    theta_probability, social_gracefulness):

        self.car1_states = states
        self.car1_actions = actions
        self.car1_planned_trajectory_set = trajectory
        self.car1_planned_action_sets.append(action_sets)
        self.car1_predicted_theta_other.append(predicted_theta_other)
        self.car1_predicted_theta_self.append(predicted_theta_self)
        self.car1_predicted_actions_other.append(predicted_actions_other)
        self.car1_predicted_others_prediction_of_my_actions.append(predicted_others_prediction_of_my_actions)
        self.car1_wanted_trajectory_self.append(wanted_trajectory_self)
        self.car1_wanted_trajectory_other.append(wanted_trajectory_other)
        self.car1_wanted_states_other.append(wanted_states_other)
        self.car1_inference_probability.append(inference_probability)
        self.car1_inference_probability_proactive.append(inference_probability_proactive)
        self.car1_theta_probability.append(theta_probability)
        self.car1_gracefulness = social_gracefulness

    def append_car2(self, states, actions, action_sets, trajectory, predicted_theta_other, predicted_theta_self,
                    predicted_actions_other, predicted_others_prediction_of_my_actions, wanted_trajectory_self,
                    wanted_trajectory_other, wanted_states_other, inference_probability, inference_probability_proactive,
                    theta_probability):


        self.car2_states = states
        self.car2_actions = actions
        self.car2_planned_trajectory_set = trajectory
        self.car2_planned_action_sets.append(action_sets)
        self.car2_predicted_theta_other.append(predicted_theta_other)
        self.car2_predicted_theta_self.append(predicted_theta_self)
        self.car2_predicted_actions_other.append(predicted_actions_other)
        self.car2_predicted_others_prediction_of_my_actions.append(predicted_others_prediction_of_my_actions)
        self.car2_wanted_trajectory_self.append(wanted_trajectory_self)
        self.car2_wanted_trajectory_other.append(wanted_trajectory_other)
        self.car2_wanted_states_other.append(wanted_states_other)
        self.car2_inference_probability.append(inference_probability)
        self.car2_inference_probability_proactive.append(inference_probability_proactive)
        self.car2_theta_probability.append(theta_probability)