From c568ebffb221a7b2f694b8e76e7a82e97b8cbd0a Mon Sep 17 00:00:00 2001
From: sayanmitracode <sayan.mitra@gmail.com>
Date: Mon, 4 Jul 2022 13:00:11 -0500
Subject: [PATCH] sd
---
demo/F16/F16_waypoint_scene.py | 18 ++++++++++++++++--
1 file changed, 16 insertions(+), 2 deletions(-)
diff --git a/demo/F16/F16_waypoint_scene.py b/demo/F16/F16_waypoint_scene.py
index f4376fa8..5441f45f 100644
--- a/demo/F16/F16_waypoint_scene.py
+++ b/demo/F16/F16_waypoint_scene.py
@@ -65,10 +65,24 @@ class State:
def __init__(self, vt, alpha, beta, phi, theta, psi, P, Q, R, pn, pe, alt, power, mode:F16Mode):
pass
+def controller(ego:State, others:State):
+ '''Computes the possible mode transitions
+ For now this is an empty controller function.
+ Coming soon. Waypoint transitions. Platooning.'''
+ output = copy.deepcopy(ego)
+ return output
def main():
- 'main function'
-
+ ''' The main function defines and simulates a scene.
+ Defining and using a scenario involves the following 5 easy steps:
+ 1. creating a basic scenario object with Scenario()
+ 2. defining the agents that will populate the object, here we have two ball agents
+ 3. adding the agents to the scenario using .add_agent()
+ 4. initializing the agents for this scenario.
+ Note that agents are only initialized *in* a scenario, not individually outside a scenario
+ 5. genetating the simulation traces or computing the reachable states
+ '''
+ F16waypointScene = Scenario()
### Initial Conditions ###
power = 9 # engine power level (0-10)
--
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