def __init__(self,
max_linear_velocity,
max_steering_angle,
L,
axis_dist,
commands_format=['C', 'C'],
commands_range=[[-1, +1], [-1, +1]],
desc='Simple car dynamics'):
self.max_linear_velocity = max_linear_velocity
self.max_steering_angle = max_steering_angle
self.L = L
self.axis_dist = axis_dist
spec = {
'desc': desc,
'shape': [2],
'format': commands_format,
'range': commands_range,
'names': ['driving velocity', 'steering angle'],
'default': [0, 0],
'extra': {
'max_linear_velocity': max_linear_velocity,
'max_steering_angle': max_steering_angle,
'L': L,
'pose_space': 'SE2'
}
}
SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec)
def __init__(self,
max_linear_velocity,
max_angular_velocity,
noise_drift=None,
noise_mult=None):
self.max_linear_velocity = max_linear_velocity
self.max_angular_velocity = max_angular_velocity
spec = {
'desc': 'Particle in SE2 controlled in velocity',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['vx', 'vy', 'angular velocity'],
'default': [0, 0, 0],
'extra': {
'max_linear_velocity': max_linear_velocity,
'max_angular_velocity': max_angular_velocity,
'pose_space': 'SE2'
}
}
SimpleKinematics.__init__(self,
pose_space=SE2,
commands_spec=spec,
noise_mult=noise_mult,
noise_drift=noise_drift)
def __init__(self, max_angular_velocity):
self.max_angular_velocity = np.array(max_angular_velocity)
spec = {
'desc': 'Particle in SO3 controlled in velocity.',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['w1', 'w2', 'w3'],
'default': [0, 0, 0],
'extra': {'max_angular_velocity': max_angular_velocity,
'pose_space': 'SO3'}
}
SimpleKinematics.__init__(self, pose_space=SO3, commands_spec=spec)
def __init__(self, ndim, max_velocity):
self.ndim = ndim
self.max_velocity = np.array(max_velocity)
pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim]
spec = {
'desc': 'Particle in Euclidean space controlled in velocity',
'shape': [ndim],
'format': ['C'] * ndim,
'range': [[-1, +1]] * ndim,
'names': ['vel%d' % d for d in range(1, ndim + 1)],
'default': [0] * ndim,
'extra': {'max_velocity': max_velocity,
'pose_space': '%s' % pose_space}
}
SimpleKinematics.__init__(self, pose_space, commands_spec=spec)
def __init__(self, max_angular_velocity):
self.max_angular_velocity = np.array(max_angular_velocity)
spec = {
'desc': 'Particle in SO3 controlled in velocity.',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['w1', 'w2', 'w3'],
'default': [0, 0, 0],
'extra': {
'max_angular_velocity': max_angular_velocity,
'pose_space': 'SO3'
}
}
SimpleKinematics.__init__(self, pose_space=SO3, commands_spec=spec)
def __init__(self, max_linear_velocity, max_angular_velocity):
self.max_linear_velocity = max_linear_velocity
self.max_angular_velocity = max_angular_velocity
spec = {
'desc': 'Differential drive dynamics',
'shape': [2],
'format': ['C', 'C'],
'range': [[-1, +1], [-1, +1]],
'names': ['angular velocity', 'linear velocity'],
'default': [0, 0],
'extra': {
'max_linear_velocity': max_linear_velocity,
'max_angular_velocity': max_angular_velocity,
'pose_space': 'SE2'
}
}
SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec)
def __init__(self, max_linear_velocity, max_angular_velocity):
self.max_linear_velocity = max_linear_velocity
self.max_angular_velocity = max_angular_velocity
spec = {
'desc': 'Differential drive dynamics',
'shape': [2],
'format': ['C', 'C'],
'range': [[-1, +1], [-1, +1]],
'names': ['angular velocity', 'linear velocity'],
'default': [0, 0],
'extra': {'max_linear_velocity': max_linear_velocity,
'max_angular_velocity': max_angular_velocity,
'pose_space': 'SE2'}
}
SimpleKinematics.__init__(self,
pose_space=SE2,
commands_spec=spec)
def __init__(self, ndim, max_velocity):
self.ndim = ndim
self.max_velocity = np.array(max_velocity)
pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim]
spec = {
'desc': 'Particle in Euclidean space controlled in velocity',
'shape': [ndim],
'format': ['C'] * ndim,
'range': [[-1, +1]] * ndim,
'names': ['vel%d' % d for d in range(1, ndim + 1)],
'default': [0] * ndim,
'extra': {
'max_velocity': max_velocity,
'pose_space': '%s' % pose_space
}
}
SimpleKinematics.__init__(self, pose_space, commands_spec=spec)
def __init__(self, max_linear_velocity, max_angular_velocity,
noise_drift=None, noise_mult=None):
self.max_linear_velocity = max_linear_velocity
self.max_angular_velocity = max_angular_velocity
spec = {
'desc': 'Particle in SE2 controlled in velocity',
'shape': [3],
'format': ['C', 'C', 'C'],
'range': [[-1, +1], [-1, +1], [-1, +1]],
'names': ['vx', 'vy', 'angular velocity'],
'default': [0, 0, 0],
'extra': {'max_linear_velocity': max_linear_velocity,
'max_angular_velocity': max_angular_velocity,
'pose_space': 'SE2'}
}
SimpleKinematics.__init__(self,
pose_space=SE2,
commands_spec=spec,
noise_mult=noise_mult,
noise_drift=noise_drift)
def __init__(self, linear_velocity, max_angular_velocity,
noise_mult=None, noise_drift=None):
self.linear_velocity = linear_velocity
self.max_angular_velocity = max_angular_velocity
spec = {
'desc': 'Kinematic fly: fixed forward velocity',
'shape': [1],
'format': ['C'],
'range': [[-1, +1]],
'names': ['angular velocity'],
'default': [0],
'extra': {'linear_velocity': linear_velocity,
'max_angular_velocity': max_angular_velocity,
'pose_space': 'SE2'}
}
SimpleKinematics.__init__(self,
pose_space=SE2,
commands_spec=spec,
noise_mult=noise_mult,
noise_drift=noise_drift)
def __init__(self, max_linear_velocity, max_steering_angle, L,
axis_dist,
commands_format=['C', 'C'],
commands_range=[[-1, +1], [-1, +1]],
desc='Simple car dynamics'):
self.max_linear_velocity = max_linear_velocity
self.max_steering_angle = max_steering_angle
self.L = L
self.axis_dist = axis_dist
spec = {
'desc': desc,
'shape': [2],
'format': commands_format,
'range': commands_range,
'names': ['driving velocity',
'steering angle'],
'default': [0, 0],
'extra': {'max_linear_velocity': max_linear_velocity,
'max_steering_angle': max_steering_angle,
'L': L,
'pose_space': 'SE2'}
}
SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec)
