def execute(self, robot_info, dt):
"""Inherit default supervisor procedures and return unicycle model output (vl,vr)"""
if not self.at_goal():
output = Supervisor.execute(self, robot_info, dt)
return self.ensure_w(self.uni2diff(output))
else:
return 0,0
def execute(self, robot_info, dt):
"""Inherit default supervisor procedures and return unicycle model output (vl,vr)"""
if not self.at_goal():
output = Supervisor.execute(self, robot_info, dt)
return self.ensure_w(self.uni2diff(output))
else:
return 0, 0
def execute(self, robot_info, dt):
"""K3Supervisor procedures and converts unicycle output into differential drive output for the Khepera3"""
#You should use this code verbatim
output = Supervisor.execute(self, robot_info, dt)
#Convert to differntial model parameters here
vl, vr = self.uni2diff(output)
#Return velocities
return (vl, vr)
def execute(self, robot_info, dt):
"""K3Supervisor procedures and converts unicycle output into differential drive output for the Khepera3"""
#You should use this code verbatim
output = Supervisor.execute(self, robot_info, dt)
#Convert to differntial model parameters here
vl, vr = self.uni2diff(output)
#Return velocities
return (vl, vr)
def execute(self, robot_info, dt):
"""Inherit default supervisor procedures and return unicycle model output (x, y, theta)"""
output = Supervisor.execute(self, robot_info, dt)
self.tracker.add_point(self.pose_est)
return self.uni2diff(output)
def execute(self, robot_info, dt):
"""Inherit default supervisor procedures and return unicycle model output (x, y, theta)"""
output = Supervisor.execute(self, robot_info, dt)
return self.ensure_w(self.uni2diff(output))
def execute(self, robot_info, dt):
"""Inherit default supervisor procedures and return unicycle model output (x, y, theta)"""
output = Supervisor.execute(self, robot_info, dt)
self.tracker.add_point(self.pose_est)
return self.uni2diff(output)
def execute(self, robot_info, dt):
"""Peforms K3Supervisor procedures and converts unicycle output into differential drive output for the Khepera3"""
output = Supervisor.execute(self, robot_info, dt)
vl, vr = self.uni2diff(output)
return (vl, vr)
def execute(self, robot_info, dt):
"""Inherit default supervisor procedures and return unicycle model output (x, y, theta)"""
output = Supervisor.execute(self, robot_info, dt)
return self.ensure_w(self.uni2diff(output))