invalid subtraction operation during visualization #16
Description
After running the simple test script below:
using LaserTag
using POMDPGifs
using QMDP
using Random
using ParticleFilters
rng = MersenneTwister(7)
m = gen_lasertag(rng=rng, robot_position_known=true)
policy = solve(QMDPSolver(verbose=true), m)
filter = SIRParticleFilter(m, 10000, rng=rng)
@show makegif(m, policy, filter, filename="out.gif", rng=rng)
I get the following:
[Iteration 1 ] residual: 10 | iteration runtime: 2.163 ms, ( 0.00216 s total)
[Iteration 2 ] residual: 9.5 | iteration runtime: 2.230 ms, ( 0.00439 s total)
[Iteration 3 ] residual: 9.02 | iteration runtime: 2.192 ms, ( 0.00659 s total)
[Iteration 4 ] residual: 8.57 | iteration runtime: 2.192 ms, ( 0.00878 s total)
[Iteration 5 ] residual: 6.92 | iteration runtime: 2.209 ms, ( 0.011 s total)
[Iteration 6 ] residual: 6.58 | iteration runtime: 2.179 ms, ( 0.0132 s total)
[Iteration 7 ] residual: 6.25 | iteration runtime: 2.212 ms, ( 0.0154 s total)
[Iteration 8 ] residual: 5.94 | iteration runtime: 2.249 ms, ( 0.0176 s total)
[Iteration 9 ] residual: 5.64 | iteration runtime: 2.207 ms, ( 0.0198 s total)
[Iteration 10 ] residual: 5.36 | iteration runtime: 2.208 ms, ( 0.022 s total)
[Iteration 11 ] residual: 5.09 | iteration runtime: 2.205 ms, ( 0.0242 s total)
[Iteration 12 ] residual: 4.83 | iteration runtime: 2.230 ms, ( 0.0265 s total)
[Iteration 13 ] residual: 4.59 | iteration runtime: 2.177 ms, ( 0.0287 s total)
[Iteration 14 ] residual: 3.2 | iteration runtime: 2.213 ms, ( 0.0309 s total)
[Iteration 15 ] residual: 2.9 | iteration runtime: 2.204 ms, ( 0.0331 s total)
[Iteration 16 ] residual: 2.76 | iteration runtime: 2.441 ms, ( 0.0355 s total)
[Iteration 17 ] residual: 2.62 | iteration runtime: 2.909 ms, ( 0.0384 s total)
[Iteration 18 ] residual: 0.0508 | iteration runtime: 2.705 ms, ( 0.0411 s total)
[Iteration 19 ] residual: 0.00966 | iteration runtime: 2.589 ms, ( 0.0437 s total)
[Iteration 20 ] residual: 0.00734 | iteration runtime: 2.731 ms, ( 0.0464 s total)
[Iteration 21 ] residual: 0.00558 | iteration runtime: 2.638 ms, ( 0.0491 s total)
[Iteration 22 ] residual: 0.00424 | iteration runtime: 2.755 ms, ( 0.0518 s total)
[Iteration 23 ] residual: 0.00322 | iteration runtime: 2.781 ms, ( 0.0546 s total)
[Iteration 24 ] residual: 0.00245 | iteration runtime: 2.213 ms, ( 0.0568 s total)
[Iteration 25 ] residual: 0.00186 | iteration runtime: 2.321 ms, ( 0.0592 s total)
[Iteration 26 ] residual: 0.00141 | iteration runtime: 3.115 ms, ( 0.0623 s total)
[Iteration 27 ] residual: 0.00108 | iteration runtime: 2.605 ms, ( 0.0649 s total)
[Iteration 28 ] residual: 0.000817 | iteration runtime: 2.619 ms, ( 0.0675 s total)
ERROR: MethodError: no method matching -(::StaticArraysCore.SVector{2, Int64}, ::Float64)
For element-wise subtraction, use broadcasting with dot syntax: array .- scalar
Closest candidates are:
-(::Base.TwicePrecision, ::Number) at ~/Software/julia-1.7.2/share/julia/base/twiceprecision.jl:293
-(::GeometryBasics.HyperRectangle{N, T}, ::Number) where {N, T} at ~/.julia/packages/GeometryBasics/6JxlJ/src/primitives/rectangles.jl:266
-(::LinearAlgebra.UniformScaling, ::Number) at ~/Software/julia-1.7.2/share/julia/stdlib/v1.7/LinearAlgebra/src/uniformscaling.jl:147
...
Stacktrace:
[1] show_meas(o::IOBuffer, s::LTState, obs::StaticArraysCore.MVector{8, Int64})
@ LaserTag ~/.julia/packages/LaserTag/uG83u/src/visualization.jl:64
[2] tikz_pic(v::LaserTagVis)
@ LaserTag ~/.julia/packages/LaserTag/uG83u/src/visualization.jl:108
[3] show(io::IOStream, mime::MIME{Symbol("image/png")}, v::LaserTagVis)
@ LaserTag ~/.julia/packages/LaserTag/uG83u/src/visualization.jl:29
[4] writeframe(filename::String, mime::MIME{Symbol("image/png")}, frame::LaserTagVis)
@ Reel ~/.julia/packages/Reel/HdonC/src/Reel.jl:35
[5] push!
@ ~/.julia/packages/Reel/HdonC/src/Reel.jl:42 [inlined]
[6] makegif(m::LaserTagPOMDP{DESPOTEmu, StaticArraysCore.MVector{8, Int64}}, hist::POMDPTools.Simulators.SimHistory{NamedTuple{(:s, :a, :sp, :o, :r, :info, :t, :action_info, :b, :bp, :update_info), Tuple{LTState, Int64, LTState, StaticArraysCore.MVector{8, Int64}, Float64, Nothing, Int64, Nothing, ParticleCollection{LTState}, ParticleCollection{LTState}, Nothing}}, Float64}; filename::String, spec::Nothing, show_progress::Bool, extra_initial::Bool, extra_final::Bool, render_kwargs::NamedTuple{(), Tuple{}}, fps::Int64)
@ POMDPGifs ~/.julia/packages/POMDPGifs/AIFGJ/src/POMDPGifs.jl:145
[7] simulate(s::GifSimulator, m::LaserTagPOMDP{DESPOTEmu, StaticArraysCore.MVector{8, Int64}}, p::POMDPTools.Policies.AlphaVectorPolicy{LaserTagPOMDP{DESPOTEmu, StaticArraysCore.MVector{8, Int64}}, Int64}, args::BasicParticleFilter{LaserTagPOMDP{DESPOTEmu, StaticArraysCore.MVector{8, Int64}}, LaserTagPOMDP{DESPOTEmu, StaticArraysCore.MVector{8, Int64}}, LowVarianceResampler, MersenneTwister, Vector{LTState}})
@ POMDPGifs ~/.julia/packages/POMDPGifs/AIFGJ/src/POMDPGifs.jl:61
[8] #makegif#4
@ ~/.julia/packages/POMDPGifs/AIFGJ/src/POMDPGifs.jl:89 [inlined]
[9] top-level scope
@ show.jl:1047
The issue disappears after modifying line 64 in visualization.jl to use element-wise subtraction: .-