def __init__(self, target_speed=40, **kwargs):
super().__init__(**kwargs)
self.logger = logging.getLogger("PID Agent")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.pid_controller = VehiclePIDController(
agent=self,
args_lateral=PIDParam.default_lateral_param(),
args_longitudinal=PIDParam.default_longitudinal_param(),
target_speed=target_speed)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.pid_controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.visualizer = Visualizer(agent=self)
self.occupancy_grid_map = OccupancyGridMap(absolute_maximum_map_size=800)
self.logger.debug(
f"Waypoint Following Agent Initiated. Reading f"
f"rom {self.route_file_path.as_posix()}")
self.curr_max_err = 0
self.counter = 0
self.total_err = 0
def __init__(self, **kwargs):
super(PointCloudMapRecordingAgent, self).__init__(**kwargs)
self.logger.debug("GPD2 Agent Initialized")
self.route_file_path = Path(self.agent_settings.waypoint_file_path)
self.mission_planner = WaypointFollowingMissionPlanner(agent=self)
# initiated right after mission plan
self.controller = \
self.pid_controller = VehiclePIDController(agent=self,
args_lateral=PIDParam.default_lateral_param(),
args_longitudinal=PIDParam.default_longitudinal_param(),
target_speed=20)
self.behavior_planner = BehaviorPlanner(agent=self)
self.local_planner = SimpleWaypointFollowingLocalPlanner(
agent=self,
controller=self.controller,
mission_planner=self.mission_planner,
behavior_planner=self.behavior_planner,
closeness_threshold=1)
self.ground_plane_point_cloud_detector = GroundPlanePointCloudDetector(
agent=self,
max_points_to_convert=20000,
ground_tilt_threshhold=0.05)
self.visualizer = Visualizer(agent=self)
self.map_history: List[MapEntry] = []
self.file_written = False
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig,
**kwargs):
super().__init__(vehicle, agent_settings, **kwargs)
self.controller = VehiclePIDController(
agent=self,
args_lateral=PIDParam.default_lateral_param(),
args_longitudinal=PIDParam.default_longitudinal_param())
self.floodfill_lane_detector = FloodfillLaneDetector(agent=self)