trying to create a bouncing ball

dryvr_plus_plus/example/example_agent/ball_agent.py

@@ -17,6 +17,7 @@ class BallAgent(BaseAgent):
 
     @staticmethod
     def dynamic(t, state, u):
+        '''Defines the RHS of the ODE used to simulate trajectories'''
         x, y, vx, vy = state
         x_dot = vx
         y_dot = vy
@@ -24,34 +25,9 @@ class BallAgent(BaseAgent):
         vy_dot = 0
         return [x_dot, y_dot, vx_dot, vy_dot]
 
-    def action_handler(self, mode: List[str], state, lane_map:LaneMap)->Tuple[float, float]:
-        x,y,theta,v = state
-        vehicle_mode = mode[0]
-        vehicle_lane = mode[1]
-        vehicle_pos = np.array([x,y])
-        a = 0
-        if vehicle_mode == "Normal":
-            d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos)
-        elif vehicle_mode == "SwitchLeft":
-            d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos) + 3
-        elif vehicle_mode == "SwitchRight":
-            d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos) - 3
-        elif vehicle_mode == "Brake":
-            d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos)
-            a = -1
-        elif vehicle_mode == "Accel":
-            d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos)
-            a = 1
-        elif vehicle_mode == 'Stop':
-            d = -lane_map.get_lateral_distance(vehicle_lane, vehicle_pos)
-            a = 0
-        psi = lane_map.get_lane_heading(vehicle_lane, vehicle_pos)-theta
-        steering = psi + np.arctan2(0.45*d, v)
-        steering = np.clip(steering, -0.61, 0.61)
-        return steering, a
-
     def TC_simulate(self, mode: List[str], initialCondition, time_bound, lane_map:LaneMap=None)->np.ndarray:
         time_step = 0.05
+        # Looks like this should be a global parameter; some config file should be setting this.
         time_bound = float(time_bound)
         number_points = int(np.ceil(time_bound/time_step))
         t = [round(i*time_step,10) for i in range(0,number_points)]
@@ -59,7 +35,6 @@ class BallAgent(BaseAgent):
         init = initialCondition
         trace = [[0]+init]
         for i in range(len(t)):
-            steering, a = self.action_handler(mode, init, lane_map)
             r = ode(self.dynamic)
             r.set_initial_value(init).set_f_params([steering, a])
             res:np.ndarray = r.integrate(r.t + time_step)
@@ -69,3 +44,6 @@ class BallAgent(BaseAgent):
             trace.append([t[i] + time_step] + init)
 
         return np.array(trace)
+
+if __name__ == '__main__':
+    aball = BallAgent('red_ball',file_name=input_code_name)
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