env = Env(np.array([0, 0]), obstacle_corners=[])
data['environment'].append(env.toJson())
# %%Parameter initialization
max_range = 3
_xi_max = 1
_d_perf = 0.1
_d_none = 2.5
_delta_expl_angle = 0 #np.pi/4 #np.pi/6
_K_o = 0.9
N_mins = 6
file_path = r'json_files\line_explore_test123.json'
dt = 0.01
scs = SCS(Beacon.get_ID(),
max_range,
xi_max=_xi_max,
d_perf=_d_perf,
d_none=_d_none)
""" Line exploration """
mins = [
Min(Beacon.get_ID(),
max_range,
DeploymentFSM(NoFollow(),
LineExplore(kind=LineExploreKind.ONE_DIM_LOCAL, )),
xi_max=_xi_max,
d_perf=_d_perf,
d_none=_d_none) for i in range(N_mins)
]
)
data['environment'].append(env.toJson())
# %%Parameter initialization
max_range = 3
_xi_max = 1
_d_perf = 0.1
_d_none = 2.5
_delta_expl_angle = 0 #np.pi/4 #np.pi/6
_K_o = 0.9
N_mins = 6
file_path = r'json_files\ds_test_123.json'
dt = 0.01
scs = SCS(Beacon.get_ID(), max_range)
""" Potential fields exploration """
mins = [
Min(Beacon.get_ID(),
max_range,
DeploymentFSM(
NewAttractiveFollow(K_o=_K_o),
NewPotentialFieldsExplore(
K_o=_K_o,
target_point_or_line=NewPotentialFieldsExplore.Target.LINE)
),
xi_max=_xi_max,
d_perf=_d_perf,
d_none=_d_none,
delta_expl_angle=_delta_expl_angle) for i in range(N_mins)
]