def deploy(self): trajectory_msg = create_multi_dof_joint_trajectory_msg(1) trajectory_msg.points[0].transforms[0].translation.x = self.x0[0] + self.offset[0] trajectory_msg.points[0].transforms[0].translation.y = self.x0[1] + self.offset[1] trajectory_msg.points[0].transforms[0].translation.z = self.altitude self.trajectory_msg_pub.publish(trajectory_msg)
def play(self): u = [.1, .1, 0.] trajectory_msg = create_multi_dof_joint_trajectory_msg(1) trajectory_msg.joint_names[0] = 'acceleration_altitude' trajectory_msg.points[0].accelerations[0].linear.x = u[0] trajectory_msg.points[0].accelerations[0].linear.y = u[1] trajectory_msg.points[0].transforms[0].translation.z = self.altitude self.trajectory_msg_pub.publish(trajectory_msg)
def play(self): u_pref = self.strategy() orca_self = Agent(self.state.x, self.state.v, .1, u_pref) orca_other = [] for other, state in self.state_team_neigh.items(): orca_other.append(Agent(state.x, state.v, .1, (0, 0))) u, _ = orca(orca_self, orca_other, 2., 1e-2) # print(str(self), u_pref, u) trajectory_msg = create_multi_dof_joint_trajectory_msg(1) trajectory_msg.points[0].velocities[0].linear.x = u[0] trajectory_msg.points[0].velocities[0].linear.y = u[1] trajectory_msg.points[0].transforms[0].translation.z = self.altitude # self.capture_handler(*arg) self.trajectory_msg_pub.publish(trajectory_msg)
def land(self): trajectory_msg = create_multi_dof_joint_trajectory_msg(1) trajectory_msg.joint_names[0] = 'acceleration_altitude' self.trajectory_msg_pub.publish(trajectory_msg)
def land(self): trajectory_msg = create_multi_dof_joint_trajectory_msg(1) self.trajectory_msg_pub.publish(trajectory_msg)
def win(self): trajectory_msg = create_multi_dof_joint_trajectory_msg(1) trajectory_msg.points[0].transforms[0].translation.z = self.altitude+.3 self.trajectory_msg_pub.publish(trajectory_msg)