def set_parameters(self, params):
"""Set PID values and sensor poses.
The params structure is expected to have sensor poses in the robot's
reference frame as ``params.sensor_poses``.
"""
PIDController.set_parameters(self, params)
self.sensor_poses = params.sensor_poses
def set_parameters(self, params):
"""Set PID values and sensor poses.
The params structure is expected to have sensor poses in the robot's
reference frame as ``params.sensor_poses``.
"""
PIDController.set_parameters(self,params)
self.sensor_poses = params.sensor_poses
# Week 4 assigment
# Set the weigths here
self.weights = [1]*len(self.sensor_poses)
def set_parameters(self, params):
"""Set PID values, sensor poses, direction and distance.
The params structure is expected to have sensor poses in the robot's
reference frame as ``params.sensor_poses``, the direction of wall
following (either 'right' for clockwise or 'left' for anticlockwise)
as ``params.direction`` and the desired distance to the wall
to maintain as ``params.distance``.
"""
PIDController.set_parameters(self, params)
self.sensor_poses = params.sensor_poses
self.direction = params.direction
self.distance = params.distance
def set_parameters(self, params):
"""Set PID values, sensor poses, direction and distance.
The params structure is expected to have sensor poses in the robot's
reference frame as ``params.sensor_poses``, the direction of wall
following (either 'right' for clockwise or 'left' for anticlockwise)
as ``params.direction`` and the desired distance to the wall
to maintain as ``params.distance``.
"""
PIDController.set_parameters(self, params)
self.sensor_poses = params.sensor_poses
self.direction = params.direction
self.distance = params.distance
def set_parameters(self, params):
"""Set PID values and sensor poses.
The params structure is expected to have sensor poses in the robot's
reference frame as ``params.sensor_poses``.
"""
PIDController.set_parameters(self,params)
self.sensor_poses = params.sensor_poses
# Now we know the poses, it makes sense to also
# calculate the weights
#self.weights = [(math.cos(p.theta)+1.5) for p in self.sensor_poses]
self.weights = [1.0, 1.0, 0.5, 1.0, 1.0]
# Normalizing weights
ws = sum(self.weights)
self.weights = [w/ws for w in self.weights]
def set_parameters(self, params):
"""
Set parameters.
"""
PIDController.set_parameters(self, params)
