Fix some typos

README.md

@@ -20,7 +20,7 @@ You can also take a look at the <b>[online demo](https://www.metacar-project.com
 1. [Getting Started](#getting-started)
 2. [Your first environment](#first-env)
 3. [Interact with the environment](#interact-env)
-4. [Custom the environment](#configure-env)
+4. [Customize the environment](#configure-env)
 5. [Edit your own level](#create-level)
 
 <a id='getting-started'></a>
@@ -82,7 +82,7 @@ Even if you can [create your own level](#create-level), Metacar comes up with a
 ```javascript
 // Select a level
 const level = metacar.level.level1;
-// Create the environement
+// Create the environment
 const env = new metacar.env("env", level);
 // Load it
 env.load();
@@ -237,7 +237,7 @@ env.load().then(() => {
 
 
 <a id='configure-env'></a>
-Custom the environement
+Customize the environment
 ------------
 
 <b>!WARNING:</b> The method presented in this section must be called <b>BEFORE</b> loading the environment.
@@ -285,7 +285,7 @@ You can choose to move or stop the other vehicles with env.carsMoving()
 
 ```javascript
 env.carsMoving(false);
-// Load the environement after changing the propeties.
+// Load the environment after changing the propeties.
 env.load();
 ```
 

demo/README.md

@@ -1,6 +1,6 @@
 # Metacar: Demo
 
-This is the demo website of the metacar project. You can use it as an example to learn how to used the environement.
+This is the demo website of the metacar project. You can use it as an example to learn how to use the environment.
 
 ## Install
 

demo/webapp/public/js/ddpg/ddpg_agent.js

@@ -119,7 +119,7 @@ class DDPGAgent {
     }
 
     /**
-     * Step into the training environement
+     * Step into the training environment
      * @param tfPreviousStep (tf.tensor2d) Current state
      * @param mPreviousStep number[]
      * @return {done, state} One boolean and the new state

demo/webapp/public/js/index.js

@@ -1,5 +1,5 @@
 // Get the url of the desired level
 let levelUrl = metacar.level.fullCity;
-// Create the environement (canvasID, levelUrl)
+// Create the environment (canvasID, levelUrl)
 var env = new metacar.env("canvas", levelUrl);
 env.load();

demo/webapp/public/js/policy_monte_carlo/index.js

@@ -1,6 +1,6 @@
 // Get the url of the desired level
 let levelUrl = metacar.level.level1;
-// Create the environement (canvasID, levelUrl)
+// Create the environment (canvasID, levelUrl)
 var env = new metacar.env("canvas", levelUrl);
 
 // Create the Policy agent

demo/webapp/public/js/policy_monte_carlo/policy_agent.js

@@ -255,7 +255,7 @@ class PolicyAgent {
                 }
                 softmax.dispose();
                 st.dispose();
-                // Step in the environement with this action
+                // Step in the environment with this action
                 reward = this.env.step(action);
                 if (reward == -1){
                     reward = -10;

demo/webapp/public/js/q_table/index.js

@@ -1,6 +1,6 @@
 // Get the url of the desired level
 let levelUrl = metacar.level.level0;
-// Create the environement (canvasID, levelUrl)
+// Create the environment (canvasID, levelUrl)
 var env = new metacar.env("canvas", levelUrl);
 
 env.setAgentMotion(metacar.motion.BasicMotion, {rotationStep: 0.25});

demo/webapp/qtable.html

@@ -37,7 +37,7 @@ <h3>Current state (Lidar points)</h3><br><br>
 
               The left window gives you an overview of what the autonomous vehicle (in red) sees.<br><br>
 
-              The algorithm is implemented <a a href="https://github.com/thibo73800/metacar/blob/master/demo/webapp/public/js/q_table_agent.js">here</a> using <a href="https://github.com/thibo73800/metacar">the metacar environement.</a>
+              The algorithm is implemented <a a href="https://github.com/thibo73800/metacar/blob/master/demo/webapp/public/js/q_table_agent.js">here</a> using <a href="https://github.com/thibo73800/metacar">the metacar environment.</a>
 
               You can see below the content of the Q-table once the model is loaded.
           </p>

src/asset_manager.ts

@@ -68,7 +68,7 @@ export class AssetManger {
      * 
      * options Options to change the lidar options of the agent.
      * Changing the lidar change the state representation of the car in the
-     * environement.
+     * environment.
      */
     public setAgentLidar(options: LidarInfoI){
         this.agentLidarInfo = options;
@@ -77,7 +77,7 @@ export class AssetManger {
     /**
      * Change the motion engine of the agent. BasicMotionEngine by default.
      * This method should be called before to called 'load'.
-     * @motion The motion engine to used for the agent when the environement is loaded.
+     * @motion The motion engine to used for the agent when the environment is loaded.
      * @options Options to change the behavior of the motion engine.
      */
     public setAgentMotion(motion: any, options: Object){

src/basic_motion_engine.ts

@@ -16,7 +16,7 @@ export interface BasicMotionOptions{
 export class BasicMotionEngine extends MotionEngine {
     /*
         Basic Motion Engine
-        In this configuration the possible action of the environement are
+        In this configuration the possible action of the environment are
         either left, right, up, down or wait.
     */
     private rotationStep: number;
@@ -118,7 +118,7 @@ export class BasicMotionEngine extends MotionEngine {
 
     actionStep(delta: number, action: number){
         /*
-            Step into the environement with one action
+            Step into the environment with one action
             @delta (Float) time since the last update
             @action: (Integer) The action to take (can be null if no action)
         */
@@ -145,7 +145,7 @@ export class BasicMotionEngine extends MotionEngine {
 
     step(delta: number){
         /*
-            Step into the environement
+            Step into the environment
             @delta (Float) time since the last update
         */
         // Update the x and y position according to the velocity
@@ -183,7 +183,7 @@ export class BasicMotionEngine extends MotionEngine {
         //this.car.mybound.x = this.car.x + x_m;
         //this.car.mybound.y = this.car.y + y_m;
 
-        // Detection the new collision with the environement
+        // Detection the new collision with the environment
         let {agentCollisions, onRoad} = this.detectInteractions(true, true);
 
         if (agentCollisions.length > 0){ // Stop the vehicle if a collision is detected

src/bot_motion_engine.ts

@@ -228,7 +228,7 @@ export class BotMotionEngine extends MotionEngine {
 
     step(delta: number){
         /*
-            Step into the environement
+            Step into the environment
             @delta (Float) time since the last update
         */
         // Possible collision detected
@@ -269,7 +269,7 @@ export class BotMotionEngine extends MotionEngine {
         this.lidar.y = this.car.y;
         this.lidar.rotation = this.car.rotation;
 
-        // Detection the new collision with the environement
+        // Detection the new collision with the environment
         let {agentCollisions, onRoad} = this.detectInteractions(false);
 
         return {agentCollisions, onRoad};

src/car.ts

@@ -220,7 +220,7 @@ export class Car {
 
     step(delta: number, action:number|number[]=null){
         /*
-            Take one step into the environement
+            Take one step into the environment
             @delta (Float) time since the last update
             @action: (Integer) The action to take (can be null if no action)
         */

src/control_motion_engine.ts

@@ -106,7 +106,7 @@ export class ControlMotionEngine extends MotionEngine {
 
     actionStep(delta: number, actions: number[]){
         /*
-            Step into the environement with one action
+            Step into the environment with one action
             @delta (Float) time since the last update
             @action: (Array of Float) The throttle and the steering angle
         */
@@ -131,7 +131,7 @@ export class ControlMotionEngine extends MotionEngine {
 
     step(delta: number){
         /*
-            Step into the environement
+            Step into the environment
             @delta (Float) time since the last update
         */
        this.car.last_a = this.car.a;
@@ -178,7 +178,7 @@ export class ControlMotionEngine extends MotionEngine {
         this.lidar.y = this.car.y;
         this.lidar.rotation = this.car.rotation;
 
-        // Detection the new collision with the environement
+        // Detection the new collision with the environment
         let {agentCollisions, onRoad} = this.detectInteractions(true, true);
 
         if (agentCollisions.length > 0){ // Stop the vehicle if a collision is detected

src/embedded.ts

@@ -8,7 +8,7 @@ import {level3} from "./embedded/level/level_3";
  * Object used to enumerate each
  * level embedded into the library.
  * 
- * @fullCity: A level to show the current capabilities of the environement.
+ * @fullCity: A level to show the current capabilities of the environment.
  * @level0: A simple level with no other cars and a simple control (top, down, left, right)
  * @level1: A level with one agent, two cars, and simple control (top, down, left, right).
  * @level2: Level with no other cars. The control is handle by two continous values (throttle and steering angle)

src/level.ts

@@ -64,7 +64,7 @@ export class Level extends World {
     /**
      * Change the motion engine of the agent. BasicMotionEngine by default.
      * This method should be called before to called 'load'.
-     * @motion The motion engine to used for the agent when the environement is loaded.
+     * @motion The motion engine to used for the agent when the environment is loaded.
      * @options Options to change the behavior of the motion engine.
      */
     public setAgentMotion(motion: typeof BasicMotionEngine|typeof ControlMotionEngine, options: BasicMotionOptions){
@@ -75,7 +75,7 @@ export class Level extends World {
      *
      * options Options to change the lidar options of the agent.
      * Changing the lidar change the state representation of the car in the
-     * environement.
+     * environment.
      */
     public setAgentLidar(options: LidarInfoI){
         this.am.setAgentLidar(options);
@@ -127,7 +127,7 @@ export class Level extends World {
     }
 
     /**
-     * Return the last reward given by the environement
+     * Return the last reward given by the environment
      */
     public getLastReward(): number{
         return this.lastReward;
@@ -136,7 +136,7 @@ export class Level extends World {
 
     step(delta: number, action:number|number[]=null, auto: boolean = true){
         /*
-            Process one step into the environement
+            Process one step into the environment
             @delta (Float) time since the last update
             @action: (Integer) The action to take (can be null if no action)
         */

src/metacar.ts

@@ -42,7 +42,7 @@ export class MetaCar {
     private loopCallback: any = undefined;
 
     /**
-     * Class used to create a new environement.
+     * Class used to create a new environment.
      * @canvasId: HTML canvas ID
      * @levelToLoad: URL of the level or directly the level's object.
      *  URL format: embedded://... or http(s)://...
@@ -77,7 +77,7 @@ export class MetaCar {
     }
 
     /**
-     * Return the last reward given by the environement
+     * Return the last reward given by the environment
      */
     public getLastReward(): number{
         return this.level.getLastReward();
@@ -87,7 +87,7 @@ export class MetaCar {
      * options Options to change the lidar options of the agent.
      * This method should be called before to called 'load'.
      * Changing the lidar change the state representation of the car in the
-     * environement.
+     * environment.
      */
     public setAgentLidar(options: LidarInfoI){
         this.agentLidarInfo = options;
@@ -96,7 +96,7 @@ export class MetaCar {
     /**
      * Change the motion engine of the agent. BasicMotionEngine by default.
      * This method should be called before to called 'load'.
-     * @motion The motion engine to used for the agent when the environement is loaded.
+     * @motion The motion engine to used for the agent when the environment is loaded.
      * @options Options to change the behavior of the motion engine.
      */
     public setAgentMotion(motion: typeof BasicMotionEngine|typeof ControlMotionEngine, options: BasicMotionOptions){
@@ -107,12 +107,12 @@ export class MetaCar {
     /**
      * This method is used to add a button under the canvas. When a
      * click is detected on the window, the associated @fc is called.
-     * Some events are recognized by the environement, others can be custom.
+     * Some events are recognized by the environment, others can be custom.
      * The following are recognized:
      * - train: The render is stopped before to called @fc. You must called render(true) once your training is done.
      * - play: Your function (@fc) will be called at each frame update.
      * - stop: The last function passed to the play event will not be called anymore. Then @fc is called.
-     * - reset_env: Reset the environement. Then, @fc is called.
+     * - reset_env: Reset the environment. Then, @fc is called.
      * - load: Load: @fc is called. You can set @options to {local:true} to load the content of a file from your computer.
      * If @options is set, a content variable will be passed to the @fc function (the content of the selected file).
      * @eventName Name of the event to listen.
@@ -134,7 +134,7 @@ export class MetaCar {
     }
 
     /**
-     * Choose whether to render the environement.
+     * Choose whether to render the environment.
      * @val: True or False.
      */
     public render(val: boolean){
@@ -162,15 +162,15 @@ export class MetaCar {
     }
 
     /**
-     * Get the action space of the environement
+     * Get the action space of the environment
      * @return The Description of the action space.
      */
     public actionSpace(): actionSpaceDescription{
         return this.level.agent.motion.actionSpace();
     }
 
     /**
-     * Return the current state of the environement.
+     * Return the current state of the environment.
      * The size of the state depends of the size of the Lidar.
      * @return The state as a 2D Array or 1D Array (linear:true)
     */
@@ -179,7 +179,7 @@ export class MetaCar {
     }
 
     /** 
-        Step into the environement
+        Step into the environment
         @action Action to process to step 
         @return Reward value
     */
@@ -188,7 +188,7 @@ export class MetaCar {
     }
 
     /**
-     * Reset the environement
+     * Reset the environment
      */
     public reset(): void{
         /*
@@ -267,7 +267,7 @@ export class MetaCar {
     }
 
     /*
-        Load the environement with the parameters passed in the constructor.
+        Load the environment with the parameters passed in the constructor.
     */
    public load(): Promise<void>{
 

src/metacar_editor.ts

@@ -28,7 +28,7 @@ export class MetaCarEditor {
 
     public load(): Promise<void>{
         /*
-            Load the environement
+            Load the environment
             @level (String) Name of the json level to load
             @agent (Agent class)
         */
@@ -75,7 +75,7 @@ export class MetaCarEditor {
     /**
      * This method is used to add button under the canvas. When a
      * click is detected on the window, the associated @fc is called.
-     * Some events are recognized by the environement, others can be custom.
+     * Some events are recognized by the environment, others can be custom.
      * @eventName Name of the event to listen.
      * @fc Function to call each time this event is raised.
      * @options: eventEditorLoadOptions {download: true|false}. Use to download the file as a json for the "save" event.

src/motion_engine.ts

@@ -81,7 +81,7 @@ export class MotionEngine {
         /*
             If all is false then we assume the car is alwais on a road
             and never collision with other car (this behavior is used for bot cars only)
-            Detect the interaction with the environement
+            Detect the interaction with the environment
             - Car collisions
             - Lidar collisions
             - Road position (Is the vehicle on the road)