weird lanechange dithering issue

[cho3]

I think it has to do with the consistency checking code

[cho3]

nvm its how the different parts of get_lanechange are working together (e.g. conversion btwn dir = [+1,-1,0] and dir being dy or lc)

[cho3]

Here's a case where two cars run into each other, maybe related maybe unrelated:

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 = MLState(false,CarState(50.0,2.5,30.75,0.0,Nullable{BehaviorModel}(),1),CarState(99.56731292388635,3.0,34.36785842369873,0.0,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,35.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,9)),4),CarState(88.9857138446193,4.0,29.878676022074934,0.0,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,31.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,5)),12),CarState(83.55003341854245,1.0,27.45737686175689,0.0,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,27.5,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,2)),13),CarState(5.833404602969644,1.5,31.164522812071382,0.6666666666666666,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,35.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,9)),14),CarState(6.364105400258811,3.0,30.995876598243825,0.0,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(2.0,2.0,0.8,31.0,4.0,4.0),Multilane.MOBILParam(0.0,4.0,0.2),1.0,6)),15),CarState(95.2814275010719,2.0,27.0,0.0,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,31.0,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,5)),17),CarState(98.12572985780923,2.0,29.049513872117117,0.0,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.0,1.0,2.0,27.5,4.0,4.0),Multilane.MOBILParam(0.5,4.0,0.2),1.0,1)),18),CarState(0.0,4.0,31.09003055824878,0.0,Nullable{BehaviorModel}(Multilane.IDMMOBILBehavior(Multilane.IDMParam(1.5,1.5,1.4,27.5,4.0,4.0),Multilane.MOBILParam(0.25,4.0,0.2),1.0,2)),19))