def __init__(self, R=HM.HybridTwoLinkManipulator()):
""" """
RminComputedTorqueController.__init__(self, R)
self.lam = 1 # Sliding surface slope
self.D = 1 # Discontinuous gain
self.nab = 0.1 # min convergence rate
def __init__(self, R=HM.HybridTwoLinkManipulator(), R_index=0):
""" """
CTC.ComputedTorqueController.__init__(self, R)
self.R_index = R_index # Fixed gear ratio index
# Integral action with dist observer (beta)
self.dist_obs_active = False
self.obs = OBS.DistObserver(R)
self.obs.ishybrid = True
def __init__(self, R=HM.HybridTwoLinkManipulator(), R_index=0):
""" """
CTC.ComputedTorqueController.__init__(self, R)
self.R_index = R_index # Fixed gear ratio index
# Slding Params
self.lam = 1 # Sliding surface slope
self.D = 1 # Discontinuous gain
self.nab = 0.1 # min convergence rate
# Integral action with dist observer (beta)
self.dist_obs_active = False
self.obs = OBS.DistObserver(R)
self.obs.ishybrid = True
def __init__(self, R=HM.HybridTwoLinkManipulator()):
""" """
CTC.ComputedTorqueController.__init__(self, R)
self.n_gears = 4
self.hysteresis = False
self.hys_level = 1
self.last_gear_i = 0 # Default gear
self.min_delay = -10000 # default is not constraint
self.last_shift_t = -1
# Integral action with dist observer (beta)
self.dist_obs_active = False
self.obs = OBS.DistObserver(R)
def __init__( self , R = HM.HybridTwoLinkManipulator() ):
""" """
RCTC.RminSlidingModeController.__init__( self , R )
self.FixCtl = RCTC.RfixSlidingModeController( R )
# Assign Rollout Controller to Simulation Model
self.R.ctl = self.FixCtl.ctl
# Rollout Params
self.horizon = 1
self.sim_dt = 0.02
self.sim_n = self.horizon / self.sim_dt + 1
# Domain check in simulation?
self.domain_check = True
self.domain_fail_cost = 1
# -*- coding: utf-8 -*-
"""
Created on Sun Mar 6 15:27:04 2016
@author: alex
"""
from AlexRobotics.dynamic import Hybrid_Manipulator as HM
from AlexRobotics.planning import RandomTree as RPRT
from AlexRobotics.control import RminComputedTorque as RminCTC
import numpy as np
import matplotlib.pyplot as plt
R = HM.HybridTwoLinkManipulator()
R.ubar = np.array([0, 0, 3])
x_start = np.array([3, 0, 0, 0])
x_goal = np.array([0, 0, 0, 0])
RRT = RPRT.RRT(R, x_start)
T = 5
#
RRT.U = np.array([[T, 0, 0], [0, 0, 0], [-T, 0, 0], [0, T, 0], [0, -T, 0],
[T, T, 0], [-T, -T, 0], [-T, T, 0], [T, -T, 0], [T, 0, 1],
[0, 0, 1], [-T, 0, 1], [0, T, 1], [0, -T, 1], [T, T, 1],
[-T, -T, 1], [-T, T, 1], [T, -T, 1], [T, 0, 2], [0, 0, 2],
[-T, 0, 2], [0, T, 2], [0, -T, 2], [T, T, 2], [-T, -T, 2],
[-T, T, 2], [T, -T, 2], [T, 0, 3], [0, 0, 3], [-T, 0, 3],
# -*- coding: utf-8 -*- """ Created on Sun Mar 6 15:27:04 2016 @author: alex """ from AlexRobotics.dynamic import Hybrid_Manipulator as HM from AlexRobotics.planning import RandomTree as RPRT from AlexRobotics.control import RminComputedTorque as RminCTC import numpy as np import matplotlib.pyplot as plt R = HM.HybridOneLinkManipulator() # Assign controller Ctl = RminCTC.RminSlidingModeController( R ) #Ctl = RminCTC.RminComputedTorqueController( R ) #Ctl = RminCTC.RfixSlidingModeController( R , 1 ) R.ctl = Ctl.ctl Ctl.n_gears = 2 Ctl.w0 = 1.0 Ctl.lam = 1.0 Ctl.nab = 1.0 Ctl.D = 0 Ctl.hysteresis = True
# -*- coding: utf-8 -*- """ Created on Sun Mar 6 15:27:04 2016 @author: alex """ from AlexRobotics.dynamic import Hybrid_Manipulator as HM from AlexRobotics.planning import RandomTree as RPRT from AlexRobotics.control import RminComputedTorque as RminCTC from AlexRobotics.control import RolloutComputedTorque as RollCTC import numpy as np import matplotlib.pyplot as plt R_ctl = HM.HybridTwoLinkManipulator() # Controller model R = HM.HybridTwoLinkManipulator() # Simulator # Assign controller Rollout = RollCTC.RolloutSlidingModeController( R_ctl ) Rollout.goal = np.array([0,0,0,0]) Rollout.FixCtl.lam = 1.0 Rollout.FixCtl.D = 2.0 Rollout.FixCtl.nab = 1.0 Rollout.n_gears = 4 Rollout.hysteresis = True Rollout.min_delay = 0.5 Rollout.horizon = 0.5
name_traj = 'data/3D_sol_'+ test_name +'.npy'
###################################
# Issues with non-blocking figures
if not(plt.isinteractive()):
print 'Terminal Mode'
terminal = True
plt.ion()
else:
terminal = False
print 'Spyder Mode'
####################################
R = HM.HybridThreeLinkManipulator()
R.x_ub[0] = np.pi
R.x_ub[1] = np.pi
R.x_ub[2] = np.pi
R.x_lb[0] = - np.pi
R.x_lb[1] = - np.pi
R.x_lb[2] = - np.pi
R.ubar = np.array([0,0,0,0])
x_start = np.array([0,0,1.5,0,0,0])
x_goal = np.array([-3,0,-1.5,0,0,0])
RRT = RPRT.RRT( R , x_start )
