def setup_agents(self):
self.agents = [
AgentSE2(
agent_id='agent-' + str(i),
dim=self.agent_dim,
sampling_period=self.sampling_period,
limit=self.limit['agent'],
collision_func=lambda x: map_utils.is_collision(self.MAP, x))
for i in range(self.num_agents)
]
def setup_belief_targets(self):
self.belief_targets = [
UKFbelief(
agent_id='target-' + str(i),
dim=self.target_dim,
limit=self.limit['target'],
fx=SE2Dynamics,
W=self.target_noise_cov,
obs_noise_func=self.observation_noise,
collision_func=lambda x: map_utils.is_collision(self.MAP, x))
for i in range(self.num_targets)
]
def setup_targets(self):
self.targets = [
AgentSE2(
agent_id='target-' + str(i),
dim=self.target_dim,
sampling_period=self.sampling_period,
limit=self.limit['target'],
collision_func=lambda x: map_utils.is_collision(self.MAP, x),
policy=SpiralPolicy(self.sampling_period, self.MAP.origin,
METADATA['spiral_min'],
METADATA['spiral_max']))
for i in range(self.num_targets)
]