def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) # #TODO check this # velocity should depend on distance to the goal # The goal: # x_g, y_g = state.goal.x, state.goal.y # # The robot: # x_r, y_r, theta = state.pose # print("current Robot pose: ({}, {}, {})".format(x_r, y_r, theta), file=sys.stderr) # # distance between goal and robot in x - direction # u_x = x_g - x_r # # distance between goal and robot in y - direction # u_y = y_g - y_r # # distance between robot and goal # # dist = numpy.linalg.norm(numpy.array([u_x,u_y])) # # v = abs(w) + dist # v = state.velocity # print("current v, w: ({}, {})".format(v, w), file=sys.stderr) return v, w
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) # Week 5 Assigment Code goes here: # End Week 5 Assigment return v, w
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) # TODO check this regulation of velocity # dmin = min(state.sensor_distances) # v *= ((dmin - 0.04)/0.26)**2 return v, w
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) # Week 5 code # # return v, w
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) # Week 5 code # # return v, w
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) dmin = min(state.sensor_distances) v *= ((dmin - 0.04)/0.26)**2 # return v, w
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) dmin = min(state.sensor_distances) v *= ((dmin - 0.04) / 0.26)**2 # return v, w
def execute(self, state, dt): self._timer += 1 v, w = PIDController.execute(self, state, dt) d, i = min(zip(state.sensor_distances, range(len(state.sensor_distances)))) if i in (1, 2, 3): ret = -v, w else: ret = v, w print self._timer if d > self.params.distance: # if self._timer >= 23: self._timer = 0 self.done = True return ret
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) #print 'Move to point ', (self.params.ga_path[point_cnt][0], self.params.ga_path[point_cnt][1]) return v, w
def execute(self, state, dt): v, w = PIDController.execute(self, state, dt) return v, w