def get_parameters(self):
"""Return a structure with current parameters"""
p = Struct()
p.wall = Struct()
p.wall.direction = self.parameters.direction
p.wall.distance = self.parameters.distance
p.velocity = self.parameters.velocity
p.gains = self.parameters.gains
return p
def get_parameters(self):
"""Return a structure with current parameters"""
p = Struct()
p.wall = Struct()
p.wall.direction = self.parameters.direction
p.wall.distance = self.parameters.distance
p.velocity = self.parameters.velocity
p.gains = self.parameters.gains
return p
def get_default_parameters(self):
"""Sets the default PID parameters, goal, and velocity"""
p = Struct()
p.goal = Struct()
p.goal.x = 0.0
p.goal.y = 0.5
p.velocity = Struct()
p.velocity.v = 0.2
p.gains = Struct()
p.gains.kp = 10.0
p.gains.ki = 2.0
p.gains.kd = 0.0
return p
def init_default_parameters(self):
"""Sets the default PID parameters, goal, and velocity"""
p = Struct()
p.goal = Struct()
p.goal.x = 1.0
p.goal.y = 1.0
p.velocity = Struct()
p.velocity.v = 0.2
p.gains = Struct()
p.gains.kp = 4.0
p.gains.ki = 0.1
p.gains.kd = 0.0
self.parameters = p
def init_default_parameters(self):
"""Sets the default PID parameters, goal, and velocity"""
p = Struct()
p.goal = Struct()
p.goal.x = 1.0
p.goal.y = 1.0
p.velocity = Struct()
p.velocity.v = 0.2
p.gains = Struct()
p.gains.kp = 10.0
p.gains.ki = 2.0
p.gains.kd = 0.0
self.parameters = p
def init_default_parameters(self):
"""Sets the default PID parameters, goal, and velocity"""
p = Struct()
p.goal = Struct()
p.goal.x = 1.0
p.goal.y = 1.0
p.velocity = Struct()
p.velocity.v = 0.2
p.gains = Struct()
p.gains.kp = 4.0
p.gains.ki = 0.1
p.gains.kd = 0.0
p.ga_path = []
p.point_cnt = 0
self.parameters = p
def init_default_parameters(self):
"""Sets the default PID parameters, goal, and velocity"""
p = Struct()
p.goal = Struct()
p.goal.x = 1.0
p.goal.y = 1.0
p.velocity = Struct()
p.velocity.v = 0.2
p.gains = Struct()
p.gains.kp = 10.0
p.gains.ki = 2.0
p.gains.kd = 0.0
p.ga_path = []
p.point_cnt = 0
self.parameters = p
