def __init__(self, target_speed=40, **kwargs):
super().__init__(**kwargs)
self.logger = logging.getLogger("PID Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = VehiclePIDController(
agent=self,
args_lateral=PIDParam.default_lateral_param(),
args_longitudinal=PIDParam.default_longitudinal_param(),
target_speed=target_speed)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.visualizer = Visualizer(agent=self)
self.occupancy_grid_map = OccupancyGridMap(absolute_maximum_map_size=800)
self.logger.debug(
f"Waypoint Following Agent Initiated. Reading f"
f"rom {self.route_file_path.as_posix()}")
self.curr_max_err = 0
self.counter = 0
self.total_err = 0
def __init__(self, **kwargs):
super(PointCloudAgent, self).__init__(**kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.controller = PurePursuitController(agent=self, target_speed=20)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
"""
self.gp_pointcloud_detector = GroundPlanePointCloudDetector(agent=self,
max_points_to_convert=10000,
nb_neighbors=100,
std_ratio=1)
"""
self.gp_pointcloud_detector = GroundPlanePointCloudDetector(
agent=self,
max_points_to_convert=10000,
nb_neighbors=100,
std_ratio=1)
self.occupancy_grid_map = OccupancyGridMap(
absolute_maximum_map_size=800)
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = DWAPlanner(agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=1000,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000,
threaded=True)
self.obstacle_from_depth_detector = ObstacleFromDepth(
agent=self,
threaded=True,
max_detectable_distance=0.3,
max_points_to_convert=10000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.add_threaded_module(self.occupancy_map)
def __init__(self, target_speed=20, **kwargs):
super().__init__(**kwargs)
# ensure recording status is ON
self.agent_settings.save_sensor_data = True
super().__init__(**kwargs)
self.target_speed = target_speed
self.logger = logging.getLogger("Recording Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self, steering_boundary=(-1, 1),
throttle_boundary=(0, 1),
target_speed=target_speed)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=1500,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000,
threaded=True,
should_save=self.agent_settings.save_sensor_data)
self.obstacle_from_depth_detector = ObstacleFromDepth(agent=self,
threaded=True,
max_detectable_distance=0.3,
max_points_to_convert=10000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.add_threaded_module(self.occupancy_map)
self.option = "obstacle_coords"
def __init__(self, target_speed=40, **kwargs):
super().__init__(**kwargs)
self.target_speed = target_speed
self.logger = logging.getLogger("PID Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = LoopSimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.occupancy_map = OccupancyGridMap(agent=self, threaded=True)
self.obstacle_from_depth_detector = ObstacleFromDepth(agent=self,
threaded=True)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.add_threaded_module(self.occupancy_map)
self.logger.debug(f"Waypoint Following Agent Initiated. Reading f"
f"rom {self.route_file_path.as_posix()}")
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig,
**kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1.5)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=550,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000)
self.obstacle_from_depth_detector = ObstacleFromDepth(
agent=self,
threaded=True,
max_detectable_distance=0.3,
max_points_to_convert=10000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.vis = o3d.visualization.Visualizer()
self.vis.create_window(width=500, height=500)
self.pcd = o3d.geometry.PointCloud()
self.points_added = False
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig,
**kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=2000,
world_coord_resolution=10,
occu_prob=0.9) # 1 m = 100 cm
self.add_threaded_module(
DepthToPointCloudDetector(agent=self,
should_compute_global_pointcloud=True,
threaded=True,
scale_factor=1000))
# self.gpd = GroundPlaneDetector(self, threaded=True)
# self.add_threaded_module(self.gpd)
self.obstacle_detector = ObstacleDetector(self, threaded=True)
self.add_threaded_module(self.obstacle_detector)
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig, **kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=550,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000)
occu_map_file_path = Path("./ROAR_Sim/data/easy_map_cleaned_global_occu_map.npy")
self.occupancy_map.load_from_file(file_path=occu_map_file_path)
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig, **kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
# initialize occupancy grid map content
self.occu_map = OccupancyGridMap(agent=self)
self.depth_to_pcd = DepthToPointCloudDetector(agent=self)
self.ground_plane_detector = GroundPlaneDetector(agent=self)
# initialize open3d related content
self.vis = o3d.visualization.Visualizer()
self.vis.create_window(width=500, height=500)
self.pcd = o3d.geometry.PointCloud()
self.coordinate_frame = o3d.geometry.TriangleMesh.create_coordinate_frame()
self.points_added = False
def __init__(self, **kwargs):
super().__init__(**kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1), throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = DynamicWindowsApproach(
agent=self,
controller=self.pid_controller)
occu_map_file_path = Path("./ROAR_Sim/data/easy_map_cleaned_global_occu_map.npy")
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=550,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000,
threaded=True)
self.occupancy_map.load_from_file(file_path=occu_map_file_path)
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig,
**kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = LoopSimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1.5)
# the part about visualization
self.occupancy_map = OccupancyGridMap(agent=self, threaded=True)
occ_file_path = Path(
"../ROAR_Sim/data/easy_map_cleaned_global_occu_map.npy")
self.occupancy_map.load_from_file(occ_file_path)
self.plan_lst = list(
self.mission_planner.produce_single_lap_mission_plan())
self.kwargs = kwargs
self.interval = self.kwargs.get('interval', 50)
self.look_back = self.kwargs.get('look_back', 5)
self.look_back_max = self.kwargs.get('look_back_max', 10)
self.thres = self.kwargs.get('thres', 1e-3)
self.int_counter = 0
self.counter = 0
self.finished = False
self.curr_dist_to_strip = 0
self.bbox: Optional[LineBBox] = None
self._get_next_bbox()
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig,
**kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.occupancy_map = OccupancyGridMap(agent=self, threaded=True)
self.depth_to_obstacle = ObstacleFromDepth(agent=self, threaded=True)
self.add_threaded_module(self.occupancy_map)
self.add_threaded_module(self.depth_to_obstacle)
# occu_map_file_path = Path("./ROAR_Sim/data/easy_map_cleaned_global_occu_map.npy")
# self.occupancy_map.load_from_file(occu_map_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = PotentialFieldPlanner(
agent=self,
behavior_planner=self.behavior_planner,
mission_planner=self.mission_planner,
controller=self.pid_controller)
def __init__(self, target_speed=40, **kwargs):
super().__init__(**kwargs)
self.target_speed = target_speed
self.logger = logging.getLogger("PID Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = RLLocalPlanner(agent=self,
controller=self.pid_controller)
self.traditional_local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1.5)
self.absolute_maximum_map_size, self.map_padding = 1000, 40
self.occupancy_map = OccupancyGridMap(
absolute_maximum_map_size=self.absolute_maximum_map_size,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=10000,
threaded=True)
self.obstacle_from_depth_detector = ObstacleFromDepth(
agent=self,
threaded=True,
max_detectable_distance=0.5,
max_points_to_convert=20000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
# self.add_threaded_module(self.occupancy_map)
self.logger.debug(f"Waypoint Following Agent Initiated. Reading f"
f"rom {self.route_file_path.as_posix()}")
