def run_follow_the_gap_forest():
sim_conf = lib.load_conf("fgm_config")
env = ForestSim(map_name_forest, sim_conf)
vehicle = ForestFGM()
# test_single_vehicle(env, vehicle, True, 10, False, vis=True)
test_single_vehicle(env, vehicle, False, 100, add_obs=True)
def run_follow_the_gap_track():
sim_conf = lib.load_conf("fgm_config")
env = TrackSim(map_name_track, sim_conf)
vehicle = TrackFGM()
# test_single_vehicle(env, vehicle, True, 10, False)
test_single_vehicle(env, vehicle, True, 100, add_obs=True)
def run_forest_gen():
fname = "config_test"
sim_conf = lib.load_conf(fname)
map_name = "forest2"
pre_map = ForestPreMap(map_name, sim_conf)
pre_map.run_generation()
def __init__(self, map_name, sim_conf, pp_conf=None) -> None:
if pp_conf is None:
pp_conf = lib.load_conf("mod_conf")
self.name = "Pure Pursuit Path Follower"
self.path_name = None
self.map_name = map_name
mu = sim_conf.mu
g = sim_conf.g
self.m = sim_conf.m
self.wheelbase = sim_conf.l_f + sim_conf.l_r
self.f_max = mu * self.m * g #* safety_f
self.v_gain = pp_conf.v_gain
self.lookahead = pp_conf.lookahead
self.wpts = None
self.vs = None
self.N = None
self.ss = None #TODO: I think this isn't needed and can be removed
self.aim_pts = []
try:
# raise FileNotFoundError
self._load_csv_track()
except FileNotFoundError:
print(f"Problem Loading map - generate map pts")
def train_mod_track():
sim_conf = lib.load_conf("std_config")
env = TrackSim(map_name_track, sim_conf)
# vehicle = ModVehicleTrain(mod_name, map_name, env.sim_conf)
vehicle = ModVehicleTrain(mod_name_track, map_name_track, sim_conf, load=False, h_size=500)
train_vehicle(env, vehicle, 500000)
def run_pre_map():
fname = "config_test"
conf = lib.load_conf(fname)
# map_name = "example_map"
map_name = "race_track"
pre_map = PreMap(conf, map_name)
pre_map.run_conversion()
def test_mod_forest():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_f, sim_conf)
vehicle = ModVehicleTest(mod_name_f, map_name_f, sim_conf)
test_single_vehicle(env, vehicle, True, 100, wait=False)
def test_nav_track():
sim_conf = lib.load_conf("race_config")
env = TrackSim(map_name_track, sim_conf)
vehicle = NavTestVehicle(nav_name_track, sim_conf)
test_single_vehicle(env, vehicle, False, 100, wait=True, vis=False, add_obs=False)
def test_nav_forest():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_forest, sim_conf)
vehicle = NavTestVehicle(nav_name_f, sim_conf)
test_single_vehicle(env, vehicle, True, 100, wait=False)
def train_nav_forest():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_forest, sim_conf)
vehicle = NavTrainVehicle(nav_name_f, sim_conf, h_size=200)
train_vehicle(env, vehicle, 1000)
def train_mod_f():
sim_conf = lib.load_conf("std_config")
env = ForestSim(map_name_f, sim_conf)
vehicle = ModVehicleTrain(mod_name_f, map_name_f, sim_conf, load=False, h_size=200)
train_vehicle(env, vehicle, 1000)
