class Env(gym.Env):
def __init__(self):
self.low_action = np.array([-1, -1, -1])
self.high_action = np.array([1, 1, 1])
self.action_space = spaces.Box(low=self.low_action,
high=self.high_action,
dtype=np.float32)
self.observation_space = spaces.Box(low=-np.inf,
high=np.inf,
shape=(6, ),
dtype=np.float32)
self.am = ActionModule()
self.vm = VisionModule()
self.gm = GameModule()
self.am.reset()
time.sleep(0.1)
def step(self, action=[0, 0, 0]):
self.gm.sendCommand(action, self.vm.me_angle)
feedback = self.vm.get_feedback(action)
return feedback
def reset(self):
self.vm.reset()
self.am.reset()
time.sleep(0.1)
self.am.reset()
return self.vm.get_feedback([0, 0, 0])
class Env(gym.Env):
_feedback = None
target_pos_x = 0
target_pos_y = 0
def __init__(self):
self.low_action = np.array([-1, -1, -1])
self.high_action = np.array([1, 1, 1])
self.action_space = spaces.Box(low=self.low_action,
high=self.high_action,
dtype=np.float32)
self.observation_space = spaces.Box(low=-np.inf,
high=np.inf,
shape=(14, ),
dtype=np.float32)
self.am = ActionModule()
self.vm = VisionModule()
self.gm = GameModule()
self.dm = DebugModule()
self.am.reset()
time.sleep(0.1)
def step(self, action=[0, 0, 0]):
self.gm.sendCommand([action[0], 0, 0], self.vm.me_angle,
self._feedback)
self._feedback = self.vm.get_feedback(
[self.target_pos_x, self.target_pos_y], action)
return self._feedback
def reset(self):
self.target_pos_x = random2axis(random.random())
self.target_pos_y = random2axis(random.random())
target = [self.target_pos_x, self.target_pos_y]
self.vm.reset()
self.am.reset()
time.sleep(0.1)
self.am.reset()
self.dm.gui_debug_x(target)
self.dm.send()
time.sleep(0.1)
self._feedback = self.vm.get_feedback(target, [0, 0, 0])
return self._feedback[0]
:return: None
"""
# start = time.clock() # This is for debug. We will see how much time will
# pass for our python module to read a set of data from GrSim.
vision.get_info()
global ob
ob = vision.other_robots[:, :-1] # Dessert the orientation of other robots
# Restart the timer
# print("Elapsed Time: "+str(time.clock()-start))
if __name__ == "__main__":
vision = VisionModule(VISION_PORT)
sender = ActionModule('127.0.0.1', 20011)
debug = DebugModule()
sender.reset(robot_num=0)
# Initialize the initial situation of our robot and other robots:
vision.get_info()
pos = vision.robot_info
goal = np.array([4.8, 0])
ob = vision.other_robots[:, :-1] # Dessert the orientation of other robots
min_u = np.zeros(3)
config = Config()
traj = np.array(pos)
path = None # For now, there is no global path
count = 0 # This will be a flag in the running loop
# Initialize the debug module
debug.dwa_msg_init()