def start_test(self, challenge):
vals = self.parseChallenge(challenge)
if 'v' not in vals or 'w' not in vals:
raise CourseraException(
"Unknown challenge format. Please contact developers for assistance."
)
vd = vals['v']
wd = vals['w']
QuickBotSupervisor = helpers.load_by_name('week3.QBGTGSupervisor',
'supervisors')
QuickBot = helpers.load_by_name('QuickBot', 'robots')
from pose import Pose
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(), info)
vld, vrd = s.uni2diff((vd, wd))
vl, vr = s.ensure_w((vld, vrd))
# Clamp to robot maxima
vl = max(-info.wheels.max_velocity, min(info.wheels.max_velocity, vl))
vr = max(-info.wheels.max_velocity, min(info.wheels.max_velocity, vr))
v, w = bot.diff2uni((vl, vr))
self.testsuite.respond("{:0.3f}".format(abs(w - wd) / wd))
def start_test(self,challenge):
vals = self.parseChallenge(challenge)
if 'v' not in vals or 'w' not in vals:
raise CourseraException("Unknown challenge format. Please contact developers for assistance.")
vd = vals['v']
wd = vals['w']
QuickBotSupervisor = helpers.load_by_name('week3.QBGTGSupervisor','supervisors')
QuickBot = helpers.load_by_name('QuickBot','robots')
from pose import Pose
bot = QuickBot(Pose())
info = bot.get_info()
info.color = 0
s = QuickBotSupervisor(Pose(),info)
vld, vrd = s.uni2diff((vd,wd))
vl, vr = s.ensure_w((vld,vrd))
# Clamp to robot maxima
vl = max(-info.wheels.max_velocity, min(info.wheels.max_velocity, vl))
vr = max(-info.wheels.max_velocity, min(info.wheels.max_velocity, vr))
v, w = bot.diff2uni((vl,vr))
self.testsuite.respond("{:0.3f}".format(abs(w-wd)/wd))
