def perform_action(self, action_index):
if action_index < 0 or action_index >= len(self.actions):
raise Exception("Invalid action: " + str(action_index))
angle, velocity = self.actions[action_index]
message = drive_param()
message.angle = angle
message.velocity = velocity
self.drive_parameters_publisher.publish(message)
def drive(self, laser_message):
if self.scan_indices is None:
self.scan_indices = [int(i * (len(laser_message.ranges) - 1) / (STATE_SIZE - 1)) for i in range(STATE_SIZE)] # nopep8
values = [laser_message.ranges[i] for i in self.scan_indices]
values = [v if not math.isinf(v) else 100 for v in values]
state = torch.tensor(values, dtype=torch.float)
with torch.no_grad():
action = self.layers.forward(state)
message = drive_param()
message.angle = action[0].item()
message.velocity = (MIN_SPEED + MAX_SPEED) / 2 + \
action[1].item() * (MAX_SPEED - MIN_SPEED) / 2
drive_parameters_publisher.publish(message)
def drive(angle, velocity):
message = drive_param()
message.angle = angle
message.velocity = velocity
drive_parameters_publisher.publish(message)