jmbarr

jmbarr

jmbarr

jmbarr

jmbarr

jmbarr

def choose_actions(sensors, predicted_tracks, reward_function, smapping=[0,2], tmapping=[0,2]):
    """Work out which action to take. Sensors must be able to return actions, a collection which is either
    iterable or testable for membership. Tracks have been predicted to a time of interest in advance (this 
    logic could exist inside choose actions with the addition of a :class:`Predictor`. A reward function is
    passed - or could be accessed from the parent state. Mappings to the x,y position of sensor and track are
    provided - it's assumed that the angle to target is in x,y on a flat earth.)"""
    
    # Firstly, can a sensor see a target? Create a dictionary of those 
    sensor_target_pair = dict()
    for sensor in sensors: