From b34189c9a44f377a363a230e65372a5d0da8b250 Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Mon, 2 Sep 2024 12:28:15 -0500
Subject: [PATCH] Removing tracker object from robot class
---
guided_mrmp/main.py | 3 ---
guided_mrmp/utils/robot.py | 5 -----
2 files changed, 8 deletions(-)
diff --git a/guided_mrmp/main.py b/guided_mrmp/main.py
index b6a453f..8af5ba3 100644
--- a/guided_mrmp/main.py
+++ b/guided_mrmp/main.py
@@ -75,9 +75,6 @@ def initialize_robots(starts, goals, dynamics_models, env):
print(f"waypoints = {waypoints}")
r = Robot(i,color,RADIUS,start,goal,dynamics_model,3.0,1,.2,rrtpath,waypoints)
- r.tracker.x_history.append(r.tracker.state[0])
- r.tracker.y_history.append(r.tracker.state[1])
- r.tracker.h_history.append(r.tracker.state[2])
robots.append(r)
return robots
diff --git a/guided_mrmp/utils/robot.py b/guided_mrmp/utils/robot.py
index f7bb75e..33ada24 100644
--- a/guided_mrmp/utils/robot.py
+++ b/guided_mrmp/utils/robot.py
@@ -14,11 +14,6 @@ class Robot:
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)
-
-
self.x_history = [start[0]]
self.y_history = [start[1]]
self.h_history = [start[2]]
--
GitLab