From a24218d1f60bda597ecc4a3fe1a1e0a93ae18da6 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Sat, 24 Aug 2024 23:18:18 -0500
Subject: [PATCH] Updating policy to use new local resolver class
---
.../planners/multirobot/db_guided_mrmp.py | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/guided_mrmp/planners/multirobot/db_guided_mrmp.py b/guided_mrmp/planners/multirobot/db_guided_mrmp.py
index c67f836..1849142 100644
--- a/guided_mrmp/planners/multirobot/db_guided_mrmp.py
+++ b/guided_mrmp/planners/multirobot/db_guided_mrmp.py
@@ -11,7 +11,7 @@ from shapely.geometry import Polygon, Point
from guided_mrmp.utils import Env
from guided_mrmp.utils.helpers import *
-from guided_mrmp.conflict_resolvers import TrajOptDBResolver
+from guided_mrmp.conflict_resolvers import TrajOptResolver,TrajOptDBResolver
from guided_mrmp.utils import Roomba
@@ -32,7 +32,6 @@ class GuidedMRMP:
self.current_guides = []*len(robots)
self.current_trajs = []*len(robots)
-
def find_all_conflicts(self, dt):
"""
Loop over all the robots, checking for both node conflicts and edge
@@ -86,10 +85,14 @@ class GuidedMRMP:
conflicts = self.find_all_conflicts(dt)
# resolve the conflicts using the database
- resolver = TrajOptDBResolver()
- resolver.resolve_conflict(conflicts, screen)
-
+ # resolver = TrajOptDBResolver(10, 60, conflicts, self.robots)
+ resolver = TrajOptResolver(conflicts, self.robots, dt, 10,)
+ updated_controls = resolver.get_local_controls()
+ for conflict,new_controls in zip(conflicts,updated_controls):
+ for r,control in zip(conflict,new_controls):
+ r.next_control = control
+
# update the state of each robot
# for idx, r in enumerate(self.robots):
@@ -135,9 +138,6 @@ class GuidedMRMP:
if __name__ == "__main__":
-
- # set_python_seed(42)
-
# create the environment
env = Env()
--
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