cleanup

f1tenth · Mar 3, 2024 · 896e9af · 896e9af
1 parent 568c236
commit 896e9af
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diff --git a/gym/f110_gym/envs/action.py b/gym/f110_gym/envs/action.py
@@ -1,14 +1,15 @@
 from abc import abstractmethod
-from enum import Enum
+from enum import IntEnum
 from typing import Any, Dict, Tuple
 
 import warnings
 import gymnasium as gym
 import numpy as np
+import jax.numpy as jnp
 from f110_gym.envs.dynamic_models import pid_steer, pid_accl
 
 
-class LongitudinalActionEnum(Enum):
+class LongitudinalActionEnum(IntEnum):
     Accl = 1
     Speed = 2
 

diff --git a/gym/f110_gym/envs/base_classes.py b/gym/f110_gym/envs/base_classes.py
@@ -1,31 +1,3 @@
-# MIT License
-
-# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-
-"""
-Prototype of base classes
-Replacement of the old RaceCar, Simulator classes in C++
-Author: Hongrui Zheng
-"""
 from __future__ import annotations
 import numpy as np
 from f110_gym.envs.dynamic_models import DynamicModel

diff --git a/gym/f110_gym/envs/collision_models.py b/gym/f110_gym/envs/collision_models.py
@@ -1,32 +1,3 @@
-# MIT License
-
-# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-
-"""
-Prototype of Utility functions and GJK algorithm for Collision checks between vehicles
-Originally from https://github.com/kroitor/gjk.c
-Author: Hongrui Zheng
-"""
-
 import numpy as np
 from numba import njit
 

diff --git a/gym/f110_gym/envs/dynamic_models.py b/gym/f110_gym/envs/dynamic_models.py
@@ -1,31 +1,3 @@
-# Copyright 2020 Technical University of Munich, Professorship of Cyber-Physical Systems, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-
-"""
-Prototype of vehicle dynamics functions and classes for simulating 2D Single
-Track dynamic model
-Following the implementation of commanroad's Single Track Dynamics model
-Original implementation: https://gitlab.lrz.de/tum-cps/commonroad-vehicle-models/
-Author: Hongrui Zheng, Renukanandan Tumu
-"""
 import warnings
 
 # from f110_gym.envs.utils import JaxEnum as Enum

diff --git a/gym/f110_gym/envs/f110_env.py b/gym/f110_gym/envs/f110_env.py
@@ -1,29 +1,3 @@
-# MIT License
-
-# Copyright (c) 2020 Joseph Auckley, Matthew O'Kelly, Aman Sinha, Hongrui Zheng
-
-# Permission is hereby granted, free of charge, to any person obtaining a copy
-# of this software and associated documentation files (the "Software"), to deal
-# in the Software without restriction, including without limitation the rights
-# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-# copies of the Software, and to permit persons to whom the Software is
-# furnished to do so, subject to the following conditions:
-
-# The above copyright notice and this permission notice shall be included in all
-# copies or substantial portions of the Software.
-
-# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-# SOFTWARE.
-
-"""
-Author: Hongrui Zheng
-"""
-
 # gym imports
 import gymnasium as gym
 from gymnax.environments import environment, spaces