def __init__(self, robot_pose, robot_info, options = None):
"""Initialize internal variables"""
Supervisor.__init__(self, robot_pose, robot_info)
# initialize memory registers
self.left_ticks = robot_info.wheels.left_ticks
self.right_ticks = robot_info.wheels.right_ticks
def __init__(self,
policy,
store_period=10000,
sample_period=1000,
mv_limit=100,
depth=4,
y=1,
l=0.8):
Supervisor.__init__(self,
policy,
store_period=store_period,
sample_period=sample_period,
mv_limit=mv_limit)
self.dm = tdy.TDyDataManager(y=y, l=l)
self.depth = depth
self.gamma = y
self.lambd = l
if 'depth' not in self.meta.keys():
self.meta['depth'] = [(0, depth)]
self.meta['gamma'] = [(0, y)]
self.meta['lambda'] = [(0, l)]
else:
self.meta['depth'].append((self.meta['episodes'], depth))
self.meta['gamma'].append((self.meta['episodes'], y))
self.meta['lambda'].append((self.meta['episodes'], l))
def __init__ (self, inQueue, outQueue, planStr, startEvent, stopEvent, agent = None, pddlFiles=None):
if agent is None:
logger.error("Cannot repair with ROS without an agent name")
sys.exit(1)
self.repair_sub = rospy.Subscriber("hidden/repair/in", RepairMsg, self.repairCallback)
self.repair_pub = rospy.Publisher("hidden/repair/out", RepairMsg, queue_size=10)
self.stnvisu_pub = rospy.Publisher('/hidden/stnvisu', StnVisu, queue_size=10)
self.mastn_pub = rospy.Publisher('hidden/mastnUpdate/out', MaSTNUpdate, queue_size=10)
self.mastn_sub = rospy.Subscriber('hidden/mastnUpdate/in', MaSTNUpdate, self.mastnUpdate)
self.stnupdate_pub = rospy.Publisher('hidden/stnupdate', String, queue_size=10)
self.stnupdate_pub_latched = rospy.Publisher('hidden/stnupdate', String, queue_size=10, latch=True)
self.alea_srv = rospy.Service("alea", AleaAction, self.aleaReceived)
Supervisor.__init__(self, inQueue, outQueue, planStr, startEvent, stopEvent, agent, pddlFiles)
self.repairRos = True
self.lastPlanSyncRequest = time.time()
self.lastPlanSyncResponse = time.time()
if rospy.has_param("/hidden/ubForCom"):
f = float(rospy.get_param("/hidden/ubForCom"))
logger.info("Setting ubForCom to %s from the parameter server" % f)
self.ubForCom = f
if rospy.has_param("/hidden/ubForTrack"):
f = float(rospy.get_param("/hidden/ubForTrack"))
logger.info("Setting ubForTrack to %s from the parameter server" % f)
self.ubForTrack = f
def __init__(self, robot_pose, robot_info, options=None):
"""Initialize internal variables"""
Supervisor.__init__(self, robot_pose, robot_info)
# initialize memory registers
self.left_ticks = robot_info.wheels.left_ticks
self.right_ticks = robot_info.wheels.right_ticks
def __init__(self, robot_pose, robot_info):
Supervisor.__init__(self, robot_pose, robot_info)
#Create conrollers
# initialize memory registers
self.left_ticks = robot_info.wheels.left_ticks
self.right_ticks = robot_info.wheels.right_ticks
def __init__(self, robot_pose, robot_info, options = None):
"""Initialize internal variables"""
Supervisor.__init__(self, robot_pose, robot_info)
# initialize memory registers
self.left_ticks = robot_info.wheels.left_ticks
self.right_ticks = robot_info.wheels.right_ticks
# Let's say the robot is that big:
self.robot_size = robot_info.wheels.base_length
def __init__(self, robot_pose, robot_info):
"""Initialize internal variables"""
Supervisor.__init__(self, robot_pose, robot_info)
# initialize memory registers
self.left_ticks = robot_info.wheels.left_ticks
self.right_ticks = robot_info.wheels.right_ticks
# Let's say the robot is that big:
self.robot_size = robot_info.wheels.base_length
def __init__(self, robot_pose, robot_info):
"""Initialize internal variables"""
Supervisor.__init__(self, robot_pose, robot_info)
# initialize memory registers
self.prev_left_ticks = robot_info.wheels.left_ticks
self.prev_right_ticks = robot_info.wheels.right_ticks
# Create tracker
self.tracker = Path(robot_pose, 0)
# Create & set the controller
self.current = self.create_controller('GoToAngle', self.parameters)
def __init__(self, robot_pose, robot_info):
"""Initialize internal variables"""
Supervisor.__init__(self, robot_pose, robot_info)
# initialize memory registers
self.prev_left_ticks = robot_info.wheels.left_ticks
self.prev_right_ticks = robot_info.wheels.right_ticks
# Create tracker
self.tracker = Path(robot_pose, 0)
# Create & set the controller
self.current = self.create_controller("GoToAngle", self.parameters)
def __init__(self,
policy,
store_period=10000,
sample_period=1000,
mv_limit=100,
y=1,
l=0.7):
Supervisor.__init__(self,
policy,
store_period=store_period,
sample_period=sample_period,
mv_limit=mv_limit)
self.dm = TDyDataManager(y=y, l=l)
def __init__(self,
policy,
store_period=10000,
sample_period=1000,
mv_limit=100,
depth=4,
y=1,
l=0.8):
Supervisor.__init__(self,
policy,
store_period=store_period,
sample_period=sample_period,
mv_limit=mv_limit)
self.dm = tdy.TDyDataManager(y=y, l=l)
self.depth = depth
def __init__(self):
Supervisor.__init__(self)
self._controllers = [
AvoidObstacles(),
GoToGoal(),
AOAndGTG()
]
self.set_current_controller(2)
self._prev_ticks = {
'left': 0,
'right': 0
}
self.goal = (0, 0)
self.reached_goal = False
