def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
# #TODO check this
# velocity should depend on distance to the goal
# The goal:
# x_g, y_g = state.goal.x, state.goal.y
# # The robot:
# x_r, y_r, theta = state.pose
# print("current Robot pose: ({}, {}, {})".format(x_r, y_r, theta), file=sys.stderr)
# # distance between goal and robot in x - direction
# u_x = x_g - x_r
# # distance between goal and robot in y - direction
# u_y = y_g - y_r
# # distance between robot and goal
# # dist = numpy.linalg.norm(numpy.array([u_x,u_y]))
# # v = abs(w) + dist
# v = state.velocity
#
print("current v, w: ({}, {})".format(v, w), file=sys.stderr)
return v, w
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
# Week 5 Assigment Code goes here:
# End Week 5 Assigment
return v, w
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
# TODO check this regulation of velocity
# dmin = min(state.sensor_distances)
# v *= ((dmin - 0.04)/0.26)**2
return v, w
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
# Week 5 code
#
#
return v, w
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
# Week 5 code
#
#
return v, w
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
dmin = min(state.sensor_distances)
v *= ((dmin - 0.04)/0.26)**2
#
return v, w
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
dmin = min(state.sensor_distances)
v *= ((dmin - 0.04) / 0.26)**2
#
return v, w
def execute(self, state, dt):
self._timer += 1
v, w = PIDController.execute(self, state, dt)
d, i = min(zip(state.sensor_distances,
range(len(state.sensor_distances))))
if i in (1, 2, 3):
ret = -v, w
else:
ret = v, w
print self._timer
if d > self.params.distance:
# if self._timer >= 23:
self._timer = 0
self.done = True
return ret
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
#print 'Move to point ', (self.params.ga_path[point_cnt][0], self.params.ga_path[point_cnt][1])
return v, w
def execute(self, state, dt):
v, w = PIDController.execute(self, state, dt)
return v, w
