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using Multilane
using POMDPToolbox
using POMDPs
using MCTS
using GenerativeModels


    

    




INFO: Precompiling module Multilane.
WARNING: could not import POMDPs.create_action into Multilane
WARNING: could not import POMDPs.create_state into Multilane
WARNING: could not import POMDPs.create_observation into Multilane
WARNING: could not import POMDPs.create_policy into Multilane
WARNING: could not import POMDPs.create_belief into Multilane

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#Set up problem configuration
nb_lanes = 4
pp = PhysicalParam(nb_lanes,lane_length=100.) #2.=>col_length=8
_discount = 1.
nb_cars=10

rmodel = NoCrashRewardModel()

dmodel = NoCrashIDMMOBILModel(nb_cars, pp)

mdp = NoCrashMDP(dmodel, rmodel, _discount);

rng = MersenneTwister(5)

s = initial_state(mdp::NoCrashMDP, rng)
# @show s.env_cars[1]
#visualize(mdp,s,MLAction(0,0))

policy = RandomPolicy(mdp)

sim = HistoryRecorder(rng=rng, max_steps=100) # initialize a random number generator

simulate(sim, mdp, policy, s)


    

    
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0.0

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visualize(mdp, sim.state_hist[1], sim.action_hist[1], sim.state_hist[2])
# savefig("scene_1.pdf")


    

    
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display_sim(mdp, sim)


    

    












    




WARNING: This should be run in a Jupyter Notebook






    
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