def __init__(self, **kwargs):
super().__init__(**kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = DWAPlanner(agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=1000,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000,
threaded=True)
self.obstacle_from_depth_detector = ObstacleFromDepth(
agent=self,
threaded=True,
max_detectable_distance=0.3,
max_points_to_convert=10000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.add_threaded_module(self.occupancy_map)
def __init__(self, target_speed=40, **kwargs):
super().__init__(**kwargs)
self.target_speed = target_speed
self.logger = logging.getLogger("PID Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = LoopSimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.occupancy_map = OccupancyGridMap(agent=self, threaded=True)
self.obstacle_from_depth_detector = ObstacleFromDepth(agent=self,
threaded=True)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.add_threaded_module(self.occupancy_map)
self.logger.debug(f"Waypoint Following Agent Initiated. Reading f"
f"rom {self.route_file_path.as_posix()}")
def __init__(self, target_speed=20, **kwargs):
super().__init__(**kwargs)
# ensure recording status is ON
self.agent_settings.save_sensor_data = True
super().__init__(**kwargs)
self.target_speed = target_speed
self.logger = logging.getLogger("Recording Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self, steering_boundary=(-1, 1),
throttle_boundary=(0, 1),
target_speed=target_speed)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=1500,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000,
threaded=True,
should_save=self.agent_settings.save_sensor_data)
self.obstacle_from_depth_detector = ObstacleFromDepth(agent=self,
threaded=True,
max_detectable_distance=0.3,
max_points_to_convert=10000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.add_threaded_module(self.occupancy_map)
self.option = "obstacle_coords"
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig,
**kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1.5)
self.occupancy_map = OccupancyGridMap(absolute_maximum_map_size=550,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=5000)
self.obstacle_from_depth_detector = ObstacleFromDepth(
agent=self,
threaded=True,
max_detectable_distance=0.3,
max_points_to_convert=10000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
self.vis = o3d.visualization.Visualizer()
self.vis.create_window(width=500, height=500)
self.pcd = o3d.geometry.PointCloud()
self.points_added = False
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig,
**kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.occupancy_map = OccupancyGridMap(agent=self, threaded=True)
self.depth_to_obstacle = ObstacleFromDepth(agent=self, threaded=True)
self.add_threaded_module(self.occupancy_map)
self.add_threaded_module(self.depth_to_obstacle)
# occu_map_file_path = Path("./ROAR_Sim/data/easy_map_cleaned_global_occu_map.npy")
# self.occupancy_map.load_from_file(occu_map_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = PotentialFieldPlanner(
agent=self,
behavior_planner=self.behavior_planner,
mission_planner=self.mission_planner,
controller=self.pid_controller)
def __init__(self, target_speed=40, **kwargs):
super().__init__(**kwargs)
self.target_speed = target_speed
self.logger = logging.getLogger("PID Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = PIDController(agent=self,
steering_boundary=(-1, 1),
throttle_boundary=(0, 1))
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = RLLocalPlanner(agent=self,
controller=self.pid_controller)
self.traditional_local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1.5)
self.absolute_maximum_map_size, self.map_padding = 1000, 40
self.occupancy_map = OccupancyGridMap(
absolute_maximum_map_size=self.absolute_maximum_map_size,
world_coord_resolution=1,
occu_prob=0.99,
max_points_to_convert=10000,
threaded=True)
self.obstacle_from_depth_detector = ObstacleFromDepth(
agent=self,
threaded=True,
max_detectable_distance=0.5,
max_points_to_convert=20000,
min_obstacle_height=2)
self.add_threaded_module(self.obstacle_from_depth_detector)
# self.add_threaded_module(self.occupancy_map)
self.logger.debug(f"Waypoint Following Agent Initiated. Reading f"
f"rom {self.route_file_path.as_posix()}")