def __init__(self):
BaseEnv.__init__(self, **cfg.FECMRAC.env_kwargs)
self.x = System()
self.xr = ReferenceSystem()
self.W = CMRAC()
self.filter = Filter(basis=self.x.unc.basis)
self.basis = self.x.unc.basis
self.cmd = Command()
self.logger = fym.logging.Logger(Path(cfg.dir, "fecmrac-env.h5"))
self.logger.set_info(cfg=cfg)
def __init__(self):
BaseEnv.__init__(self, **cfg.DoubleMRAC.env_kwargs)
self.x = System()
self.xr = ReferenceSystem()
self.P = cfg.P
self.W = CMRAC(self.P, cfg.B)
self.F = BaseSystem(np.zeros_like(cfg.Wcirc.dot(cfg.Wcirc.T)))
self.J = PerformanceIndex()
self.cmd = Command()
self.basis = self.x.unc.basis
self.BTBinv = np.linalg.inv(cfg.B.T.dot(cfg.B))
self.logger = fym.logging.Logger(Path(cfg.dir, "double-mrac-env.h5"))
self.logger.set_info(cfg=cfg)
def __init__(self):
BaseEnv.__init__(self, **cfg.HMRAC.env_kwargs)
self.x = System()
self.xr = ReferenceSystem()
self.P = scipy.linalg.solve_continuous_are(cfg.Am, cfg.B, cfg.Q_lyap,
cfg.R)
self.W = CMRAC(self.P, cfg.B)
self.J = PerformanceIndex()
self.cmd = Command()
self.basis = self.x.unc.basis
self.BTBinv = np.linalg.inv(cfg.B.T.dot(cfg.B))
self.logger = fym.logging.Logger(Path(cfg.dir, "hmrac-env.h5"))
self.logger.set_info(cfg=cfg)
def __init__(self):
BaseEnv.__init__(self, **cfg.ValueLearner.env_kwargs)
self.x = System()
self.xr = ReferenceSystem()
self.P = cfg.P
self.W = CMRAC(self.P, cfg.B)
self.F = BaseSystem(np.zeros_like(cfg.Wcirc.dot(cfg.Wcirc.T)))
self.J = PerformanceIndex()
self.basis = self.x.unc.basis
self.filter = ResidualFilter(basis=self.basis, B=cfg.B)
self.cmd = Command()
self.BTBinv = np.linalg.inv(cfg.B.T.dot(cfg.B))
self.logger = fym.logging.Logger(Path(cfg.dir, "value-learner-env.h5"))
self.logger.set_info(cfg=cfg)
def __init__(self):
super().__init__(
{
"main":
BaseEnv({
"main_1": BaseSystem(np.zeros((3, 3))),
"main_2": BaseSystem(np.ones(4)),
}),
"sub":
BaseSystem([2, 2, 2]),
},
dt=0.01,
max_t=10)
def __init__(self):
BaseEnv.__init__(self, **cfg.HMRAC.env_kwargs)
self.multirotor = MultiRotor(config=cfg.multirotor_config)
self.xr = ReferenceSystem()
self.B = self.multirotor.Jinv.dot(
self.multirotor.u_factor.dot(self.multirotor.B[1:]))
self.P = scipy.linalg.solve_continuous_are(cfg.Am, self.B, cfg.Q_lyap,
cfg.R)
self.W = CMRAC(self.P, self.B, cfg.HMRAC.Gamma)
self.What = BaseSystem(cfg.W_init)
self.J = PerformanceIndex()
self.filter = ResidualFilter(basis=self.basis, B=self.B)
# Not BaseEnv or BaseSystem
self.cmd = Command()
self.wind = Wind()
self.ut = self.multirotor.m * self.multirotor.g / self.multirotor.n
self.BTBinv = np.linalg.inv(self.B.T.dot(self.B))
self.logger = fym.logging.Logger(Path(cfg.dir, "hmrac-env.h5"))
self.logger.set_info(cfg=cfg)
"env.kwargs": dict(dt=0.01, max_t=10),
"multicopter.nrotor": 6,
"multicopter.m": 3.,
"multicopter.LQRGain": {
"Q": [1, 1, 1, 1],
"R": [1, 1],
},
"actuator.tau": 1e-1,
}
cfg = parser.parse(json_dict)
# ``parser.update``
cfg = parser.parse()
def load_config():
parser.update(
cfg, {
"env.kwargs": dict(dt=0.01, max_t=10),
"agent.memory_size": 1000,
"agent.minibatch_size": 32,
})
load_config()
cfg.env.kwargs.dt = 0.001
# ``parser.decode``
cfg = parser.parse()
parser.update(cfg, {"env.kwargs": dict(dt=0.01, max_t=10)})
env = BaseEnv(**parser.decode(cfg.env.kwargs))