def __init__(self, max_linear_velocity, max_steering_angle, L, axis_dist, commands_format=['C', 'C'], commands_range=[[-1, +1], [-1, +1]], desc='Simple car dynamics'): self.max_linear_velocity = max_linear_velocity self.max_steering_angle = max_steering_angle self.L = L self.axis_dist = axis_dist spec = { 'desc': desc, 'shape': [2], 'format': commands_format, 'range': commands_range, 'names': ['driving velocity', 'steering angle'], 'default': [0, 0], 'extra': { 'max_linear_velocity': max_linear_velocity, 'max_steering_angle': max_steering_angle, 'L': L, 'pose_space': 'SE2' } } SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec)
def __init__(self, max_linear_velocity, max_angular_velocity, noise_drift=None, noise_mult=None): self.max_linear_velocity = max_linear_velocity self.max_angular_velocity = max_angular_velocity spec = { 'desc': 'Particle in SE2 controlled in velocity', 'shape': [3], 'format': ['C', 'C', 'C'], 'range': [[-1, +1], [-1, +1], [-1, +1]], 'names': ['vx', 'vy', 'angular velocity'], 'default': [0, 0, 0], 'extra': { 'max_linear_velocity': max_linear_velocity, 'max_angular_velocity': max_angular_velocity, 'pose_space': 'SE2' } } SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec, noise_mult=noise_mult, noise_drift=noise_drift)
def __init__(self, max_angular_velocity): self.max_angular_velocity = np.array(max_angular_velocity) spec = { 'desc': 'Particle in SO3 controlled in velocity.', 'shape': [3], 'format': ['C', 'C', 'C'], 'range': [[-1, +1], [-1, +1], [-1, +1]], 'names': ['w1', 'w2', 'w3'], 'default': [0, 0, 0], 'extra': {'max_angular_velocity': max_angular_velocity, 'pose_space': 'SO3'} } SimpleKinematics.__init__(self, pose_space=SO3, commands_spec=spec)
def __init__(self, ndim, max_velocity): self.ndim = ndim self.max_velocity = np.array(max_velocity) pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim] spec = { 'desc': 'Particle in Euclidean space controlled in velocity', 'shape': [ndim], 'format': ['C'] * ndim, 'range': [[-1, +1]] * ndim, 'names': ['vel%d' % d for d in range(1, ndim + 1)], 'default': [0] * ndim, 'extra': {'max_velocity': max_velocity, 'pose_space': '%s' % pose_space} } SimpleKinematics.__init__(self, pose_space, commands_spec=spec)
def __init__(self, max_angular_velocity): self.max_angular_velocity = np.array(max_angular_velocity) spec = { 'desc': 'Particle in SO3 controlled in velocity.', 'shape': [3], 'format': ['C', 'C', 'C'], 'range': [[-1, +1], [-1, +1], [-1, +1]], 'names': ['w1', 'w2', 'w3'], 'default': [0, 0, 0], 'extra': { 'max_angular_velocity': max_angular_velocity, 'pose_space': 'SO3' } } SimpleKinematics.__init__(self, pose_space=SO3, commands_spec=spec)
def __init__(self, max_linear_velocity, max_angular_velocity): self.max_linear_velocity = max_linear_velocity self.max_angular_velocity = max_angular_velocity spec = { 'desc': 'Differential drive dynamics', 'shape': [2], 'format': ['C', 'C'], 'range': [[-1, +1], [-1, +1]], 'names': ['angular velocity', 'linear velocity'], 'default': [0, 0], 'extra': { 'max_linear_velocity': max_linear_velocity, 'max_angular_velocity': max_angular_velocity, 'pose_space': 'SE2' } } SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec)
def __init__(self, max_linear_velocity, max_angular_velocity): self.max_linear_velocity = max_linear_velocity self.max_angular_velocity = max_angular_velocity spec = { 'desc': 'Differential drive dynamics', 'shape': [2], 'format': ['C', 'C'], 'range': [[-1, +1], [-1, +1]], 'names': ['angular velocity', 'linear velocity'], 'default': [0, 0], 'extra': {'max_linear_velocity': max_linear_velocity, 'max_angular_velocity': max_angular_velocity, 'pose_space': 'SE2'} } SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec)
def __init__(self, ndim, max_velocity): self.ndim = ndim self.max_velocity = np.array(max_velocity) pose_space = {1: Tran1, 2: Tran2, 3: Tran3}[ndim] spec = { 'desc': 'Particle in Euclidean space controlled in velocity', 'shape': [ndim], 'format': ['C'] * ndim, 'range': [[-1, +1]] * ndim, 'names': ['vel%d' % d for d in range(1, ndim + 1)], 'default': [0] * ndim, 'extra': { 'max_velocity': max_velocity, 'pose_space': '%s' % pose_space } } SimpleKinematics.__init__(self, pose_space, commands_spec=spec)
def __init__(self, max_linear_velocity, max_angular_velocity, noise_drift=None, noise_mult=None): self.max_linear_velocity = max_linear_velocity self.max_angular_velocity = max_angular_velocity spec = { 'desc': 'Particle in SE2 controlled in velocity', 'shape': [3], 'format': ['C', 'C', 'C'], 'range': [[-1, +1], [-1, +1], [-1, +1]], 'names': ['vx', 'vy', 'angular velocity'], 'default': [0, 0, 0], 'extra': {'max_linear_velocity': max_linear_velocity, 'max_angular_velocity': max_angular_velocity, 'pose_space': 'SE2'} } SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec, noise_mult=noise_mult, noise_drift=noise_drift)
def __init__(self, linear_velocity, max_angular_velocity, noise_mult=None, noise_drift=None): self.linear_velocity = linear_velocity self.max_angular_velocity = max_angular_velocity spec = { 'desc': 'Kinematic fly: fixed forward velocity', 'shape': [1], 'format': ['C'], 'range': [[-1, +1]], 'names': ['angular velocity'], 'default': [0], 'extra': {'linear_velocity': linear_velocity, 'max_angular_velocity': max_angular_velocity, 'pose_space': 'SE2'} } SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec, noise_mult=noise_mult, noise_drift=noise_drift)
def __init__(self, max_linear_velocity, max_steering_angle, L, axis_dist, commands_format=['C', 'C'], commands_range=[[-1, +1], [-1, +1]], desc='Simple car dynamics'): self.max_linear_velocity = max_linear_velocity self.max_steering_angle = max_steering_angle self.L = L self.axis_dist = axis_dist spec = { 'desc': desc, 'shape': [2], 'format': commands_format, 'range': commands_range, 'names': ['driving velocity', 'steering angle'], 'default': [0, 0], 'extra': {'max_linear_velocity': max_linear_velocity, 'max_steering_angle': max_steering_angle, 'L': L, 'pose_space': 'SE2'} } SimpleKinematics.__init__(self, pose_space=SE2, commands_spec=spec)