def initialize(self): self.dt = self.options['dt'] self.controllerTypeOrder = [ 'defaultRandom', 'learnedRandom', 'learned', 'default' ] self.setDefaultOptions() self.Sensor = SensorObj(rayLength=self.options['Sensor']['rayLength'], numRays=self.options['Sensor']['numRays']) self.Controller = ControllerObj(self.Sensor) self.Car = CarPlant(controller=self.Controller, velocity=self.options['Car']['velocity']) self.Reward = Reward( self.Sensor, collisionThreshold=self.collisionThreshold, actionCost=self.options['Reward']['actionCost'], collisionPenalty=self.options['Reward']['collisionPenalty'], raycastCost=self.options['Reward']['raycastCost']) self.setSARSA() # create the things needed for simulation om.removeFromObjectModel(om.findObjectByName('world')) self.world = World.buildCircleWorld( percentObsDensity=self.options['World']['percentObsDensity'], circleRadius=self.options['World']['circleRadius'], nonRandom=self.options['World']['nonRandomWorld'], scale=self.options['World']['scale'], randomSeed=self.options['World']['randomSeed'], obstaclesInnerFraction=self.options['World'] ['obstaclesInnerFraction']) om.removeFromObjectModel(om.findObjectByName('robot')) self.robot, self.frame = World.buildRobot() self.locator = World.buildCellLocator(self.world.visObj.polyData) self.Sensor.setLocator(self.locator) self.frame = self.robot.getChildFrame() self.frame.setProperty('Scale', 3) self.frame.setProperty('Edit', True) self.frame.widget.HandleRotationEnabledOff() rep = self.frame.widget.GetRepresentation() rep.SetTranslateAxisEnabled(2, False) rep.SetRotateAxisEnabled(0, False) rep.SetRotateAxisEnabled(1, False) self.supervisedTrainingTime = self.options['runTime'][ 'supervisedTrainingTime'] self.learningRandomTime = self.options['runTime']['learningRandomTime'] self.learningEvalTime = self.options['runTime']['learningEvalTime'] self.defaultControllerTime = self.options['runTime'][ 'defaultControllerTime'] self.Car.setFrame(self.frame) print "Finished initialization"
def initialize(self): self.dt = self.options['dt'] self.controllerTypeOrder = ['default'] self.setDefaultOptions() self.Sensor = SensorObj(rayLength=self.options['Sensor']['rayLength'], numRays=self.options['Sensor']['numRays']) self.Controller = ControllerObj(self.Sensor) self.Quad = QuadPlant(controller=self.Controller, velocity=self.options['Quad']['velocity']) # create the things needed for simulation om.removeFromObjectModel(om.findObjectByName('world')) self.world = World.buildWarehouseWorld( percentObsDensity=self.options['World']['percentObsDensity'], circleRadius=self.options['World']['circleRadius'], nonRandom=self.options['World']['nonRandomWorld'], scale=self.options['World']['scale'], randomSeed=self.options['World']['randomSeed'], obstaclesInnerFraction=self.options['World'] ['obstaclesInnerFraction']) om.removeFromObjectModel(om.findObjectByName('robot')) self.robot, self.frame = World.buildRobot() self.locator = World.buildCellLocator(self.world.visObj.polyData) self.Sensor.setLocator(self.locator) self.frame = self.robot.getChildFrame() self.frame.setProperty('Scale', 3) self.frame.setProperty('Edit', True) self.frame.widget.HandleRotationEnabledOff() rep = self.frame.widget.GetRepresentation() rep.SetTranslateAxisEnabled(2, False) rep.SetRotateAxisEnabled(0, False) rep.SetRotateAxisEnabled(1, False) self.defaultControllerTime = self.options['runTime'][ 'defaultControllerTime'] self.Quad.setFrame(self.frame) print "Finished initialization"
def initialize(self): self.car = DubinsCar() self.sensor = SensorObj(rayLength=self.options['Sensor']['rayLength'], numRays=self.options['Sensor']['numRays'], FOV=self.options['Sensor']['FOV']) self.controller = DubinsPIDController(self.sensor, self.car) self.world = World.buildDonutWorld() self.locator = World.buildCellLocator(self.world.visObj.polyData) self.sensor.setLocator(self.locator) self.robot, self.carFrame = World.buildRobot() self.car.setFrame(self.carFrame) self.locator = World.buildCellLocator(self.world.visObj.polyData) self.wallDetector = WallDetector(self.sensor) self.planner = SimplePlanner(self.sensor) self.pursuitController = PurePursuitController(self.car, self.sensor) self.featureDetector = FeatureDetector(self.sensor)