def __init__(self, robot_pose, robot_info, options = None):
"""Create controllers and the state transitions"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
self.extgoal = False
if options is not None:
try:
self.parameters.goal.x = options.x
self.parameters.goal.y = options.y
self.extgoal = True
except Exception:
pass
# Fill in some parameters
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
self.parameters.ir_max = robot_info.ir_sensors.rmax
self.parameters.direction = 'left'
self.parameters.distance = 0.2
self.robot = robot_info
# generate global path
self.parameters.ga_path = ga.ga_execute((0,0), (self.parameters.goal.x, self.parameters.goal.y))
self.parameters.ga_path.append((self.parameters.goal.x, self.parameters.goal.y))
global global_cnt
global_cnt = len(self.parameters.ga_path)
point_cnt = self.parameters.point_cnt
#print self.parameters.ga_path, "ga_path"
#Add controllers
self.avoidobstacles = self.create_controller('AvoidObstacles', self.parameters)
self.gtg = self.create_controller('GoToGoal', self.parameters)
self.hold = self.create_controller('Hold', None)
self.wall = self.create_controller('FollowWall', self.parameters)
self.path = self.create_controller('FollowPath', self.parameters)
self.blending = self.create_controller("Blending", self.parameters)
# Define transitions
self.add_controller(self.hold,
(lambda: not self.at_goal(), self.gtg))
self.add_controller(self.gtg,
(self.at_goal, self.hold),
(self.at_obstacle, self.avoidobstacles))
self.add_controller(self.avoidobstacles,
(self.at_goal, self.hold),
(self.free, self.path)
)
# self.add_controller(self.blending,
# (self.at_goal, self.hold),
# (self.free, self.path),
# (self.at_obstacle, self.avoidobstacles),
# )
self.add_controller(self.path,
(lambda: self.next_point(), self.path),
(self.at_goal, self.hold),
#(lambda: self.parameters.point_cnt == len(self.parameters.ga_path) - 1 and not self.next_point(), self.gtg),
(self.at_obstacle, self.avoidobstacles))
self.current = self.path
def __init__(self, robot_pose, robot_info, options=None):
"""Create controllers and the state transitions"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
self.extgoal = False
if options is not None:
try:
self.parameters.goal.x = options.x
self.parameters.goal.y = options.y
self.extgoal = True
except Exception:
pass
# Fill in some parameters
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
self.parameters.ir_max = robot_info.ir_sensors.rmax
self.parameters.direction = 'left'
self.parameters.distance = 0.2
self.robot = robot_info
# generate global path
self.parameters.ga_path = ga.ga_execute(
(0, 0), (self.parameters.goal.x, self.parameters.goal.y))
self.parameters.ga_path.append(
(self.parameters.goal.x, self.parameters.goal.y))
global global_cnt
global_cnt = len(self.parameters.ga_path)
point_cnt = self.parameters.point_cnt
#print self.parameters.ga_path, "ga_path"
#Add controllers
self.avoidobstacles = self.create_controller('AvoidObstacles',
self.parameters)
self.gtg = self.create_controller('GoToGoal', self.parameters)
self.hold = self.create_controller('Hold', None)
self.wall = self.create_controller('FollowWall', self.parameters)
self.path = self.create_controller('FollowPath', self.parameters)
self.blending = self.create_controller("Blending", self.parameters)
# Define transitions
self.add_controller(self.hold, (lambda: not self.at_goal(), self.gtg))
self.add_controller(self.gtg, (self.at_goal, self.hold),
(self.at_obstacle, self.avoidobstacles))
self.add_controller(self.avoidobstacles, (self.at_goal, self.hold),
(self.free, self.path))
# self.add_controller(self.blending,
# (self.at_goal, self.hold),
# (self.free, self.path),
# (self.at_obstacle, self.avoidobstacles),
# )
self.add_controller(
self.path,
(lambda: self.next_point(), self.path),
(self.at_goal, self.hold),
#(lambda: self.parameters.point_cnt == len(self.parameters.ga_path) - 1 and not self.next_point(), self.gtg),
(self.at_obstacle, self.avoidobstacles))
self.current = self.path
def __init__(self, robot_pose, robot_info):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
self.jcontroller = self.create_controller('joystick.JoystickController', \
(self.parameters.joystick, robot_info.wheels.max_velocity*robot_info.wheels.radius, robot_info.wheels.max_velocity*robot_info.wheels.radius/robot_info.wheels.base_length))
self.current = self.jcontroller
def __init__(self, robot_pose, robot_info):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
self.jcontroller = self.create_controller('joystick.JoystickController', \
(self.parameters.joystick, robot_info.wheels.max_velocity*robot_info.wheels.radius, robot_info.wheels.max_velocity*robot_info.wheels.radius/robot_info.wheels.base_length))
self.current = self.jcontroller
def __init__(self, robot_pose, robot_info, options = None):
"""Create controllers and the state transitions"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
self.extgoal = False
if options is not None:
try:
self.parameters.goal.x = options.x
self.parameters.goal.y = options.y
self.extgoal = True
except Exception:
pass
# Fill in some parameters
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
self.parameters.ir_max = robot_info.ir_sensors.rmax
self.parameters.direction = 'left'
self.parameters.distance = 0.2
self.robot = robot_info
#Add controllers
self.avoidobstacles = self.create_controller('AvoidObstacles', self.parameters)
self.gtg = self.create_controller('GoToGoal', self.parameters)
self.wall = self.create_controller('FollowWall', self.parameters)
self.hold = self.create_controller('Hold', None)
self.gs = self.create_controller('GoStraight', None)
# Week 7 Assignment:
# Define transitions
self.add_controller(self.hold,
(lambda: not self.at_goal(), self.gtg))
self.add_controller(self.gtg,
(self.at_goal, self.hold),
(self.at_obstacle, self.avoidobstacles))
self.add_controller(self.avoidobstacles,
(self.at_goal, self.hold),
(self.free, self.gtg),
)
# Change and add additional transitions
self.add_controller(self.gs,
(self.at_obstacle, self.wall)
)
self.add_controller(self.wall,
(self.at_goal, self.hold)
)
# End Week 7
# Start in the 'go-to-goal' state
#self.current = self.gtg
self.current = self.gs
def __init__(self, robot_pose, robot_info):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Create the controller
self.avoidobstacles = self.create_controller('week4.AvoidObstacles', self.parameters)
# Set the controller
self.current = self.avoidobstacles
def __init__(self, robot_pose, robot_info):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Create the tracker
self.tracker = Path(robot_pose, 0)
# Create the controller
self.gtg = self.create_controller('week3.GoToGoal', self.parameters)
# Set the controller
self.current = self.gtg
def __init__(self, robot_pose, robot_info):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Create the tracker
self.tracker = Path(robot_pose, 0)
# Create the controller
self.gtg = self.create_controller('week3.GoToGoal', self.parameters)
# Set the controller
self.current = self.gtg
def __init__(self, robot_pose, robot_info):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Create the controller
self.blending = self.create_controller('week5.Blending', self.parameters)
# Set the controller
self.current = self.blending
def __init__(self, robot_pose, robot_info):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Create the controller
self.blending = self.create_controller('week5.Blending',
self.parameters)
# Set the controller
self.current = self.blending
def __init__(self, robot_pose, robot_info, options=None):
"""Create controllers and the state transitions"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
self.extgoal = False
if options is not None:
try:
self.parameters.goal.x = options.x
self.parameters.goal.y = options.y
self.extgoal = True
except Exception:
pass
# Fill in some parameters
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
self.parameters.ir_max = robot_info.ir_sensors.rmax
self.parameters.direction = 'left'
self.parameters.distance = 0.2
self.robot = robot_info
#Add controllers
self.avoidobstacles = self.create_controller('AvoidObstacles',
self.parameters)
self.gtg = self.create_controller('GoToGoal', self.parameters)
self.wall = self.create_controller('FollowWall', self.parameters)
self.hold = self.create_controller('Hold', None)
# Week 7 Assignment:
# Define transitions
self.add_controller(self.hold, (lambda: not self.at_goal(), self.gtg))
self.add_controller(self.gtg, (self.at_goal, self.hold),
(self.at_obstacle, self.avoidobstacles))
self.add_controller(
self.avoidobstacles,
(self.at_goal, self.hold),
(self.free, self.gtg),
)
# Change and add additional transitions
# End Week 7
# Start in the 'go-to-goal' state
self.current = self.gtg
def __init__(self, robot_pose, robot_info, options = None):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
if options is not None:
try:
self.parameters.direction = options.direction
self.parameters.velocity.v = options.velocity
self.parameters.gains = options.gains
except:
pass
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Create and set the controller
self.current = self.create_controller('week6.FollowWall', self.parameters)
def __init__(self, robot_pose, robot_info):
"""Create controllers and the state transitions"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Add controllers
self.gtg = self.create_controller('gotogoal.GoToGoal', self.parameters)
self.hold = self.create_controller('hold.Hold', None)
# Transitions if at goal/obstacle
self.add_controller(self.hold, (lambda: not self.at_goal(), self.gtg))
self.add_controller(self.gtg, (self.at_goal, self.hold))
# Start in the 'go-to-goal' state
self.current = self.gtg
def __init__(self, robot_pose, robot_info):
"""Create controllers and the state transitions"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Add controllers
self.gtg = self.create_controller('gotogoal.GoToGoal', self.parameters)
self.hold = self.create_controller('hold.Hold', None)
# Transitions if at goal/obstacle
self.add_controller(self.hold, (lambda : not self.at_goal(), self.gtg))
self.add_controller(self.gtg,
(self.at_goal, self.hold))
# Start in the 'go-to-goal' state
self.current = self.gtg
def __init__(self, robot_pose, robot_info, options=None):
"""Create the controller"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
if options is not None:
try:
self.parameters.direction = options.direction
self.parameters.velocity.v = options.velocity
self.parameters.gains = options.gains
except:
pass
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Create and set the controller
self.current = self.create_controller('week6.FollowWall',
self.parameters)
def __init__(self, robot_pose, robot_info):
"""Create necessary controllers"""
QuickBotSupervisor.__init__(self, robot_pose, robot_info)
# Fill in poses for the controller
self.parameters.sensor_poses = robot_info.ir_sensors.poses[:]
# Create the controllers
self.avoidobstacles = self.create_controller('AvoidObstacles', self.parameters)
self.gtg = self.create_controller('GoToGoal', self.parameters)
self.hold = self.create_controller('Hold', None)
# Create some state transitions
self.add_controller(self.hold)
self.add_controller(self.gtg, \
(self.at_goal, self.hold), \
(self.at_obstacle, self.avoidobstacles))
# Week 5 Assigment code should go here
# End Week 5 Assignment
# Start in 'go-to-goal' state
self.current = self.gtg
