pyrcf.components.agents.planner_controller_agent

Classes

PlannerControllerAgent

A simple implementation of Agent using a local planner object and controller.

Module Contents

class pyrcf.components.agents.planner_controller_agent.PlannerControllerAgent(local_planner: pyrcf.components.local_planners.LocalPlannerBase, controller: pyrcf.components.controllers.ControllerBase)

Bases: pyrcf.components.agents.agent_base.AgentBase

A simple implementation of Agent using a local planner object and controller.

This agent simply calls the local planner update and controller update steps in sequence.

local_planner
controller
_latest_local_plan = None
_latest_ctrl_cmd = None
get_action(robot_state: pyrcf.core.types.RobotState, global_plan: pyrcf.core.types.GlobalMotionPlan, t: float = None, dt: float = None) → pyrcf.core.types.RobotCmd

Compute the control command to be executed given the current state and the global plan.

Parameters:

  • robot_state (RobotState) – Current robot state. This is equivalent to ‘observation’ in standard learning-based agents.

  • global_plan (GlobalMotionPlan) – The reference global plan to follow.

  • t (float, optional) – the current time signature of the control loop. Defaults to None (controllers may or may not need this).

  • dt (float, optional) – the time since the last control loop. Defaults to None (controllers may or may not need this).

Returns:

The output control command (action) to be sent to the robot.

Return type:

RobotCmd

Raises:

NotImplementedError – Raised if this method is not implemented by the child class.

get_latest_local_plan() → pyrcf.core.types.LocalMotionPlan
get_latest_ctrl_cmd() → pyrcf.core.types.RobotCmd
get_last_output() → Tuple[pyrcf.core.types.LocalMotionPlan, pyrcf.core.types.RobotCmd]

Should return the last computed outputs by this agent.

Returns:

Output local plan and control command from this agent.

NOTE: Either of these can be None, if the agent does not compute them.

Return type:

Tuple[LocalMotionPlan, RobotCmd]

shutdown()

Cleanly shutdown the PyRCF component. Override in child class if required. The base class implements an empty function.

get_class_info() → str

Override with custom string if needed.