def create_obs_spec(vehicle):
obs_spec = None
for attached in vehicle.sensors:
sensor = attached.sensor
ss = StreamSpec.from_yaml(sensor.observations_spec)
obs_spec = (ss if obs_spec is None else StreamSpec.join(obs_spec, ss))
assert obs_spec is not None
assert obs_spec is not None
return obs_spec
def create_obs_spec(vehicle):
obs_spec = None
for attached in vehicle.sensors:
sensor = attached.sensor
ss = StreamSpec.from_yaml(sensor.observations_spec)
obs_spec = (ss if obs_spec is None
else StreamSpec.join(obs_spec, ss))
assert obs_spec is not None
assert obs_spec is not None
return obs_spec
def __init__(self, base, top):
self.base = base
self.top = top
cmd1 = StreamSpec.from_yaml(self.base.get_commands_spec())
cmd2 = StreamSpec.from_yaml(self.top.get_commands_spec())
cmd_spec = StreamSpec.join(cmd1, cmd2).to_yaml()
components = [self.base.get_state_space(),
self.top.get_state_space()]
state_space = ProductManifold(components)
Dynamics.__init__(self, commands_spec=cmd_spec,
state_space=state_space)
def __init__(self, base, top):
self.base = base
self.top = top
cmd1 = StreamSpec.from_yaml(self.base.get_commands_spec())
cmd2 = StreamSpec.from_yaml(self.top.get_commands_spec())
cmd_spec = StreamSpec.join(cmd1, cmd2).to_yaml()
components = [self.base.get_state_space(), self.top.get_state_space()]
state_space = ProductManifold(components)
Dynamics.__init__(self,
commands_spec=cmd_spec,
state_space=state_space)
