From 470eedcabb3f0267b1551b06964ebfed9ffe59c6 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Thu, 2 Jan 2025 13:20:58 -0600
Subject: [PATCH] Save the tree to the robot class object and load the radius
from the settings file
---
guided_mrmp/utils/control.py | 1 +
guided_mrmp/utils/robot.py | 3 ++-
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/guided_mrmp/utils/control.py b/guided_mrmp/utils/control.py
index 32865c2..49b9297 100644
--- a/guided_mrmp/utils/control.py
+++ b/guided_mrmp/utils/control.py
@@ -41,6 +41,7 @@ class Roomba(ControlSpace):
self.max_d_acc = settings['Roomba']['max_d_acc']
self.max_steer = np.radians(settings['Roomba']['max_steer'])
self.max_d_steer = np.radians(settings['Roomba']['max_d_steer'])
+ self.radius = settings['Roomba']['radius']
def state_dimension(self):
# State is [x, y, theta]
diff --git a/guided_mrmp/utils/robot.py b/guided_mrmp/utils/robot.py
index 59e76fc..5bf18f8 100644
--- a/guided_mrmp/utils/robot.py
+++ b/guided_mrmp/utils/robot.py
@@ -1,7 +1,7 @@
import numpy as np
class Robot:
- def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, rrtpath,waypoints):
+ def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, rrtpath,waypoints, tree):
self.label = label
self.color = color
self.radius = radius
@@ -12,6 +12,7 @@ class Robot:
self.rrtpath = rrtpath
self.dynamics_model = dynamics_model
self.waypoints = waypoints
+ self.tree = tree
self.last_mpc_trajectory = None
self.last_mpc_controls = None
--
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