From 904c46cef81bf8c6821a7d9369232482aff823a4 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Mon, 2 Sep 2024 12:26:48 -0500
Subject: [PATCH] Adding current control to robot class to keep track of
control
---
guided_mrmp/utils/robot.py | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/guided_mrmp/utils/robot.py b/guided_mrmp/utils/robot.py
index 46bcfab..f7bb75e 100644
--- a/guided_mrmp/utils/robot.py
+++ b/guided_mrmp/utils/robot.py
@@ -1,3 +1,5 @@
+import numpy as np
+
class Robot:
def __init__(self, label, color, radius, start, goal, dynamics_model, target_v, T, DT, rrtpath,waypoints):
self.label = label
@@ -6,14 +8,15 @@ class Robot:
self.start = start
self.goal = goal
self.current_position = start
+ self.control = np.zeros(2)
self.rrtpath = rrtpath
self.next_step = None
self.next_control = None
- if rrtpath is not None:
- from guided_mrmp.controllers.path_tracker import PathTracker
- self.tracker = PathTracker(start, dynamics_model,target_v, T, DT, waypoints)
+ # if rrtpath is not None:
+ # from guided_mrmp.controllers.path_tracker import PathTracker
+ # self.tracker = PathTracker(start, dynamics_model,target_v, T, DT, waypoints)
self.x_history = [start[0]]
--
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