def get_goal_observation(self):
temp_angles=goal_angle()
if len(self.angles)==0 or not like(temp_angles,self.angles[0]):
self.angles.append(temp_angles)
else:
self.focus_one()
self.ending=True
def update(self):
if has_fallen():
return "fallen"
if vision.has_new_goal_observation():
if like(goal_angle()[0],0):
return "done"
else:
return "standing in front of the goal"
self.current_head_position=robotbody.get_head_position()
if like(self.current_head_position,pi/2):
return "can't find the goal"
if like(self.wanted_head_position,self.current_head_position):
self.update_head_position()
