def __init__(self,
boat,
destination,
positionThreshold=1.0,
controller_name="PointAndShoot"):
super(LineFollower, self).__init__(boat)
self._x0 = boat.state[0]
self._x1 = destination[0]
self._y0 = boat.state[1]
self._y1 = destination[1]
self._dx = self._x1 - self._x0
self._dy = self._y1 - self._y0
self._th = np.arctan2(self._dy, self._dx)
self._L = np.sqrt(np.power(self._dx, 2.) + np.power(self._dy, 2.))
self._destination = destination
self._lookAhead = 5.0
self._positionThreshold = positionThreshold
if controller_name == "PointAndShoot":
THRUST_PID = [0.15, 0, 0] #[0.5, 0.01, 10.00] # P, I, D
HEADING_PID = [0.1, 0, 0] #[1.0, 0.0, 1.0] # P, I, D
HEADING_ERROR_SURGE_CUTOFF_ANGLE = 180.0 # [degrees of heading error at which thrust is forced to be zero, follows a half-cosine shape]
self.controller = Controllers.PointAndShootPID(
boat, THRUST_PID, HEADING_PID,
HEADING_ERROR_SURGE_CUTOFF_ANGLE, positionThreshold)
elif controller_name == "QLearnPointAndShoot":
self.controller = Controllers.QLearnPointAndShoot(boat)
def __init__(self,
boat,
destination,
positionThreshold=1.0,
controller_name="PointAndShoot"):
super(DestinationOnly, self).__init__(boat)
self._destinationState = destination
if controller_name == "PointAndShoot":
THRUST_PID = [0.5, 0, 0] #[0.5, 0.01, 10.00] # P, I, D
HEADING_PID = [0.7, 0, 0] #[1.0, 0.0, 1.0] # P, I, D
HEADING_ERROR_SURGE_CUTOFF_ANGLE = 180.0 # [degrees of heading error at which thrust is forced to be zero, follows a half-cosine shape]
self.controller = Controllers.PointAndShootPID(
boat, THRUST_PID, HEADING_PID,
HEADING_ERROR_SURGE_CUTOFF_ANGLE, positionThreshold)
elif controller_name == "QLearnPointAndShoot":
self.controller = Controllers.QLearnPointAndShoot(boat)
