Add initial grid to real-world transformation

Author: razvancruceanu

ships_hybrid_algorithm/agents/ship.py

@@ -102,29 +102,6 @@ def get_noisy_speed(self):
             # Clamp to valid range
             noisy_speed = max(self.dwa_config["min_speed"], min(noisy_speed, self.dwa_config["max_speed"]))
             return noisy_speed
-    
-    def get_noisy_state(self):
-        # Randomly trigger heading deviation
-        if self.heading_drift_duration > 0:
-            # Continue existing deviation
-            noisy_theta = self.state[2] + self.heading_deviation
-            self.heading_drift_duration -= 1
-            logging.info(f"Continue deviation. Ship {self.unique_id}, Theta = {self.heading_deviation}")
-        else:
-            # Random chance to start a new deviation
-            if self.random.random() < self.model.deviation_chance:
-                self.heading_deviation = self.random.uniform(-self.model.max_heading_deviation, self.model.max_heading_deviation)
-                self.heading_drift_duration = self.model.deviation_duration
-                noisy_theta = self.state[2] + self.heading_deviation
-                logging.info(f"Starting directional deviation. Ship {self.unique_id}, Theta = {self.heading_deviation}")
-            else:
-                noisy_theta = self.state[2]
-
-        # Normalize heading
-        noisy_theta = (noisy_theta + math.pi) % (2 * math.pi) - math.pi
-        noisy_state = (self.state[0], self.state[1], noisy_theta, self.state[3], self.state[4])
-
-        return noisy_state
 
     def should_dock(self, current_speed):
         """Determine if the ship should dock at its destination."""

ships_hybrid_algorithm/config/config.json

@@ -1,5 +1,5 @@
 {
-    "simulation_steps": 3000,
+    "simulation_steps": 1500,
     "width": 100,
     "height": 100,
     "num_ships": 35,
@@ -57,6 +57,13 @@
         [[75, 75], [78, 73], [82, 76], [80, 80], [76, 79]],
         [[27, 28], [35, 27], [38, 29], [39, 32], [37, 36], [32, 39], [28, 37], [26, 33]]  
     ],
+    "geospatial_bounds": {
+        "min_lat": 20.0,
+        "max_lat": 40.0,
+        "min_lon": 0.0,
+        "max_lon": 20.0
+    },
+    "time_step_seconds": 0.001,
     "dwa_config": {
         "max_speed": 1.0,
         "min_speed": 0.1,