def fly_quadrotor(params=None, fly=True):
gen = MultiFlipParams()
quad = Quadcopter()
if not params:
params = gen.get_initial_parameters()
sections = gen.get_sections(params)
state = quad.update_state(sections)
if fly:
PlotFlight(state, 0.17).show()
return state
def cmaes_evaluate(params):
"""5 dimensional variables[p0 ..... p5]"""
gen = MultiFlipParams()
quad = Quadcopter(False)
# print("cmaes_evaluate")
# Restrict duration of generated params to below 2 seconds
if (params[1] > 2.5) or (params[2] > 2.5) or (params[4] > 2.5):
return tuple([1000000] * 9)
sections = gen.get_sections(params)
for sect in sections:
if sect[2] < 0:
# print('Error sect:', sect)
return tuple([1000000] * 9)
quad.update_state(sections)
final_state = np.array([quad.state['position'],
quad.state['velocity'],
quad.state['orientation']]).flatten()
fitness = abs(ideal_final_state - final_state)
# print("[", params, "] -> [", fitness, "]")
return tuple(fitness)