def __init__(self, robot_pose, robot_info, options = None): """Initialize internal variables""" Supervisor.__init__(self, robot_pose, robot_info) # initialize memory registers self.left_ticks = robot_info.wheels.left_ticks self.right_ticks = robot_info.wheels.right_ticks
def __init__(self, policy, store_period=10000, sample_period=1000, mv_limit=100, depth=4, y=1, l=0.8): Supervisor.__init__(self, policy, store_period=store_period, sample_period=sample_period, mv_limit=mv_limit) self.dm = tdy.TDyDataManager(y=y, l=l) self.depth = depth self.gamma = y self.lambd = l if 'depth' not in self.meta.keys(): self.meta['depth'] = [(0, depth)] self.meta['gamma'] = [(0, y)] self.meta['lambda'] = [(0, l)] else: self.meta['depth'].append((self.meta['episodes'], depth)) self.meta['gamma'].append((self.meta['episodes'], y)) self.meta['lambda'].append((self.meta['episodes'], l))
def __init__ (self, inQueue, outQueue, planStr, startEvent, stopEvent, agent = None, pddlFiles=None): if agent is None: logger.error("Cannot repair with ROS without an agent name") sys.exit(1) self.repair_sub = rospy.Subscriber("hidden/repair/in", RepairMsg, self.repairCallback) self.repair_pub = rospy.Publisher("hidden/repair/out", RepairMsg, queue_size=10) self.stnvisu_pub = rospy.Publisher('/hidden/stnvisu', StnVisu, queue_size=10) self.mastn_pub = rospy.Publisher('hidden/mastnUpdate/out', MaSTNUpdate, queue_size=10) self.mastn_sub = rospy.Subscriber('hidden/mastnUpdate/in', MaSTNUpdate, self.mastnUpdate) self.stnupdate_pub = rospy.Publisher('hidden/stnupdate', String, queue_size=10) self.stnupdate_pub_latched = rospy.Publisher('hidden/stnupdate', String, queue_size=10, latch=True) self.alea_srv = rospy.Service("alea", AleaAction, self.aleaReceived) Supervisor.__init__(self, inQueue, outQueue, planStr, startEvent, stopEvent, agent, pddlFiles) self.repairRos = True self.lastPlanSyncRequest = time.time() self.lastPlanSyncResponse = time.time() if rospy.has_param("/hidden/ubForCom"): f = float(rospy.get_param("/hidden/ubForCom")) logger.info("Setting ubForCom to %s from the parameter server" % f) self.ubForCom = f if rospy.has_param("/hidden/ubForTrack"): f = float(rospy.get_param("/hidden/ubForTrack")) logger.info("Setting ubForTrack to %s from the parameter server" % f) self.ubForTrack = f
def __init__(self, robot_pose, robot_info, options=None): """Initialize internal variables""" Supervisor.__init__(self, robot_pose, robot_info) # initialize memory registers self.left_ticks = robot_info.wheels.left_ticks self.right_ticks = robot_info.wheels.right_ticks
def __init__(self, robot_pose, robot_info): Supervisor.__init__(self, robot_pose, robot_info) #Create conrollers # initialize memory registers self.left_ticks = robot_info.wheels.left_ticks self.right_ticks = robot_info.wheels.right_ticks
def __init__(self, robot_pose, robot_info, options = None): """Initialize internal variables""" Supervisor.__init__(self, robot_pose, robot_info) # initialize memory registers self.left_ticks = robot_info.wheels.left_ticks self.right_ticks = robot_info.wheels.right_ticks # Let's say the robot is that big: self.robot_size = robot_info.wheels.base_length
def __init__(self, robot_pose, robot_info): """Initialize internal variables""" Supervisor.__init__(self, robot_pose, robot_info) # initialize memory registers self.left_ticks = robot_info.wheels.left_ticks self.right_ticks = robot_info.wheels.right_ticks # Let's say the robot is that big: self.robot_size = robot_info.wheels.base_length
def __init__(self, robot_pose, robot_info): """Initialize internal variables""" Supervisor.__init__(self, robot_pose, robot_info) # initialize memory registers self.prev_left_ticks = robot_info.wheels.left_ticks self.prev_right_ticks = robot_info.wheels.right_ticks # Create tracker self.tracker = Path(robot_pose, 0) # Create & set the controller self.current = self.create_controller('GoToAngle', self.parameters)
def __init__(self, robot_pose, robot_info): """Initialize internal variables""" Supervisor.__init__(self, robot_pose, robot_info) # initialize memory registers self.prev_left_ticks = robot_info.wheels.left_ticks self.prev_right_ticks = robot_info.wheels.right_ticks # Create tracker self.tracker = Path(robot_pose, 0) # Create & set the controller self.current = self.create_controller("GoToAngle", self.parameters)
def __init__(self, policy, store_period=10000, sample_period=1000, mv_limit=100, y=1, l=0.7): Supervisor.__init__(self, policy, store_period=store_period, sample_period=sample_period, mv_limit=mv_limit) self.dm = TDyDataManager(y=y, l=l)
def __init__(self, policy, store_period=10000, sample_period=1000, mv_limit=100, depth=4, y=1, l=0.8): Supervisor.__init__(self, policy, store_period=store_period, sample_period=sample_period, mv_limit=mv_limit) self.dm = tdy.TDyDataManager(y=y, l=l) self.depth = depth
def __init__(self): Supervisor.__init__(self) self._controllers = [ AvoidObstacles(), GoToGoal(), AOAndGTG() ] self.set_current_controller(2) self._prev_ticks = { 'left': 0, 'right': 0 } self.goal = (0, 0) self.reached_goal = False