def carInteractive():
vehicle = vh.car((0,-1,0),0,1.,VEHICLE_SPEED)
window = Window(position=(0,14,0),flying=True,vehicle=vehicle,
height=800,width=800, caption='Pyglet',
resizable=True)
# Hide the mouse cursor and prevent the mouse from leaving the window.
window.set_exclusive_mouse(False)
setup()
pyglet.app.run()
def carMaze(controller=None):
x,z = mazeStart
vehicle = vh.car((-x,-1,z),np.pi,1.,VEHICLE_SPEED,controller=controller)
window = Window(position=(0,14,0),flying=True,vehicle=vehicle,
height=800,width=800, caption='Pyglet',
resizable=True)
# Hide the mouse cursor and prevent the mouse from leaving the window.
window.set_exclusive_mouse(False)
setup()
pyglet.app.run()
def __init__(self):
gain = 0.1
vehicle = vh.car((0, -1, 0), np.pi, 1., gain=gain, controller=None)
model = mc.Model(vehicle, mc.smallLayout)
self.gain = gain
dt = 0.05
uLow = np.array([-1, -1.])
uHigh = np.array([1., 1.])
self.action_space = gym.spaces.Box(low=uLow,
high=uHigh,
dtype=np.float32)
xHigh = np.array([2.5, 2.5, np.inf, 2., 2.])
xLow = np.array([-2.5, -2.5, -np.inf, -2., -2.])
self.observation_space = gym.spaces.Box(low=xLow,
high=xHigh,
dtype=np.float32)
super().__init__(model, dt)
def carSmall(controller=None):
vehicle = vh.car((0,0),np.pi,1.,VEHICLE_SPEED,controller=controller)
window = Window(position=(0,3,0),flying=True,
layout=smallLayout,
vehicle = vehicle,
height=800,width=800, caption='Pyglet',
resizable=True)
# Hide the mouse cursor and prevent the mouse from leaving the window.
window.set_exclusive_mouse(False)
setup()
pyglet.app.run()
fig,ax = plt.subplots(3,1,sharex=True)
ax[0].plot(vehicle.Time,vehicle.XTraj)
ax[0].set_ylabel('x',fontsize=16)
ax[1].plot(vehicle.Time,vehicle.YTraj)
ax[1].set_ylabel('y',fontsize=16)
ax[2].plot(vehicle.Time,vehicle.ThetaTraj)
ax[2].set_ylabel(r'$\theta$',fontsize=16)
ax[2].set_xlabel('Time',fontsize=16)