def __init__(self, **kwargs): super(PointCloudAgent, self).__init__(**kwargs) self.route_file_path = Path(self.agent_settings.waypoint_file_path) self.controller = PurePursuitController(agent=self, target_speed=20) self.mission_planner = WaypointFollowingMissionPlanner(agent=self) self.behavior_planner = BehaviorPlanner(agent=self) self.local_planner = SimpleWaypointFollowingLocalPlanner( agent=self, controller=self.controller, mission_planner=self.mission_planner, behavior_planner=self.behavior_planner, closeness_threshold=1) """ self.gp_pointcloud_detector = GroundPlanePointCloudDetector(agent=self, max_points_to_convert=10000, nb_neighbors=100, std_ratio=1) """ self.gp_pointcloud_detector = GroundPlanePointCloudDetector( agent=self, max_points_to_convert=10000, nb_neighbors=100, std_ratio=1) self.occupancy_grid_map = OccupancyGridMap( absolute_maximum_map_size=800)
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig): super().__init__(vehicle, agent_settings) self.controller = PurePursuitController(agent=self) self.mission_planner = JSONWaypointPlanner(self) self.behavior_planner = BehaviorPlanner(self) self.local_planner = SimpleWaypointFollowingLocalPlanner(agent=self, mission_planner=self.mission_planner, behavior_planner=self.behavior_planner, controller=self.controller) self.logger.debug("JSON Waypoint Agent Initialized")
def __init__(self, vehicle: Vehicle, agent_settings: AgentConfig, target_speed=50): super().__init__(vehicle=vehicle, agent_settings=agent_settings) self.route_file_path = Path(self.agent_settings.waypoint_file_path) self.pure_pursuit_controller = \ PurePursuitController(agent=self, target_speed=target_speed, look_ahead_gain=0.1, look_ahead_distance=3) self.mission_planner = WaypointFollowingMissionPlanner(agent=self) # initiated right after mission plan self.behavior_planner = BehaviorPlanner(agent=self) self.local_planner = SimpleWaypointFollowingLocalPlanner( agent=self, controller=self.pure_pursuit_controller, mission_planner=self.mission_planner, behavior_planner=self.behavior_planner, closeness_threshold=3)
def __init__(self, **kwargs): super().__init__(**kwargs) self.ground_plane_detector = GroundPlaneDetector(agent=self) self.route_file_path = Path(self.agent_settings.waypoint_file_path) self.pid_controller = PurePursuitController(agent=self, target_speed=40) self.mission_planner = WaypointFollowingMissionPlanner(agent=self) # initiated right after mission plan self.behavior_planner = BehaviorPlanner(vehicle=self.vehicle) self.local_planner = SimpleWaypointFollowingLocalPlanner( agent=self, controller=self.pid_controller, mission_planner=self.mission_planner, behavior_planner=self.behavior_planner, closeness_threshold=1) self.visualizer = Visualizer(self) self.map_history: List[MapEntry] = [] self.file_written = False