def __init__(self):
self._param = NodeHandle()
if (CONTROL == 'PIDCONTROL'):
self.control = PIDControl()
self.controlY = PIDControl_Y()
self.controlYaw = PIDControl_Yaw()
elif (CONTROL == 'FUZZYCONTROL'):
self.control = FUZZYControl()
self.prev_dis = 0
self.prev_ang = 0
self.prev_vel = []
self.initPID = 0
self.state = 0
self.pre_state = 0
self.not_find = 0
# self._kp = 6
# self._ki = 0.1
# self._kd = 4.0
# self.prevIntegral = 0
# self.lastError = 0
''' rotate '''
self.rotateAng = self._param.errorRotate90
''' cross '''
self.timer = TimeCounter(time=self._param.crossTime)
''' home '''
self.homeFlag = 0
self.homeTimes = 0
def __init__(self):
self._param = NodeHandle()
self.images = None
self._direction = 0
self._multiPos = []
self._angle = 999
self.Init_Images()
def __init__(self):
self._param = NodeHandle()
self._env = CarEnv()
self._ddpg = None
self._state = None
self._action = None
# self._behavior = ROBOT
# self._behavior = TRAIN
self._behavior = VIEW_RESULT
self.Init_DDPG()
if (self._behavior == TRAIN):
self.Init_Train()
if (self._behavior == VIEW_RESULT):
self.Init_View_Result()
def __init__(self):
self._param = NodeHandle()
if (CONTROL == 'PIDCONTROL'):
self.control = PIDControl()
self.controlY = PIDControl_Y()
self.controlYaw = PIDControl_Yaw()
# self.controlQRX = PIDControl_Qr(20.0,0.05,10.0)
# self.controlQRY = PIDControl_Qr(20.0,0.05,10.0)
# self.controlQRX = PIDControl_Qr(15,0.05,12.0)
self.controlQRX = PIDControl_Qr(15, 0.05, 14.0)
self.controlQRY = PIDControl_Qr(30.0, 0.05, 15.0)
elif (CONTROL == 'FUZZYCONTROL'):
self.control = FUZZYControl()
self.prev_dis = 0
self.prev_ang = 0
self.prev_vel = []
self.initPID = 0
self.state = 0
self.pre_state = 0
self.not_find = 0
self.stopTimes = 0
self.dualArm = 0
''' rotate '''
self.rotateAng = self._param.errorRotate0
self.pre_rotateYaw = 0
''' cross '''
self.timer = TimeCounter(time=self._param.crossTime)
self.timerQr = TimeCounter(time=1.0)
self.timerQrFlag = False
''' home '''
self.homeFlag = 0
self.homeTimes = 0
def __init__(self):
self._param = NodeHandle()
def __init__(self):
self._param = NodeHandle()
self.scanLine = ScanLine()
self.decideGrid = DecideGrid()
def __init__(self):
self._param = NodeHandle()
self.image = None
self.scanImage = None
self._scanState = None
