def __init__(self, **kwargs):
super(PointCloudAgent, self).__init__(**kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.controller = PurePursuitController(agent=self, target_speed=20)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
"""
self.gp_pointcloud_detector = GroundPlanePointCloudDetector(agent=self,
max_points_to_convert=10000,
nb_neighbors=100,
std_ratio=1)
"""
self.gp_pointcloud_detector = GroundPlanePointCloudDetector(
agent=self,
max_points_to_convert=10000,
nb_neighbors=100,
std_ratio=1)
self.occupancy_grid_map = OccupancyGridMap(
absolute_maximum_map_size=800)
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig):
super().__init__(vehicle, agent_settings)
self.controller = PurePursuitController(agent=self)
self.mission_planner = JSONWaypointPlanner(self)
self.behavior_planner = BehaviorPlanner(self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(agent=self,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
controller=self.controller)
self.logger.debug("JSON Waypoint Agent Initialized")
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig, target_speed=50):
super().__init__(vehicle=vehicle, agent_settings=agent_settings)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pure_pursuit_controller = \
PurePursuitController(agent=self,
target_speed=target_speed,
look_ahead_gain=0.1,
look_ahead_distance=3)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pure_pursuit_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=3)
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.ground_plane_detector = GroundPlaneDetector(agent=self)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PurePursuitController(agent=self,
target_speed=40)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(vehicle=self.vehicle)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.visualizer = Visualizer(self)
self.map_history: List[MapEntry] = []
self.file_written = False