def plan_act(self, obs):
nn_obs = self.transform_obs(obs)
nn_action = self.agent.act(nn_obs)
steering_angle = self.max_steer * nn_action[0]
speed = calculate_speed(steering_angle)
action = np.array([steering_angle, speed])
return action
def act_pp(self, pos, theta):
lookahead_point = self._get_current_waypoint(pos)
if lookahead_point is None:
return [0, 4.0]
speed, steering_angle = pure_pursuit_utils.get_actuation(
theta, lookahead_point, pos, self.lookahead, self.wheelbase)
speed = calculate_speed(steering_angle)
return [steering_angle, speed]
def plan_act(self, obs):
scan = obs['scan']
ranges = np.array(scan, dtype=np.float)
steering_angle = self.process_lidar(ranges)
# speed = 4
speed = calculate_speed(steering_angle)
action = np.array([steering_angle, speed])
return action
def plan_act(self, obs):
position = obs['state'][0:2]
theta = obs['state'][2]
pp_action = self.act_pp(position, theta)
nn_obs = self.transform_obs(obs, pp_action)
nn_action = self.agent.act(nn_obs, noise=0)
self.nn_act = nn_action
steering_angle = self.modify_references(self.nn_act, pp_action[0])
speed = calculate_speed(steering_angle)
action = np.array([steering_angle, speed])
return action
def plan_act(self, obs):
self.step_counter += 1
nn_obs = self.transform_obs(obs)
self.add_memory_entry(obs, nn_obs)
nn_action = self.agent.act(nn_obs)
self.observation = obs
self.nn_state = nn_obs
self.nn_action = nn_action
steering_angle = nn_action[0] * self.max_steer
speed = calculate_speed(steering_angle)
self.action = np.array([steering_angle, speed])
return self.action
def plan_act(self, obs):
position = obs['state'][0:2]
theta = obs['state'][2]
pp_action = self.act_pp(position, theta)
nn_obs = self.transform_obs(obs, pp_action)
self.add_memory_entry(obs, nn_obs)
self.observation = obs
nn_action = self.agent.act(nn_obs)
self.nn_act = nn_action
self.nn_state = nn_obs
self.step_counter += 1
steering_angle = self.modify_references(self.nn_act, pp_action[0])
speed = calculate_speed(steering_angle)
self.action = np.array([steering_angle, speed])
return self.action
