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RandomController

src.python_motion_planning.controller.random_controller.RandomController

Bases: BaseController

Random controller

Source code in src\python_motion_planning\controller\random_controller.py
Python
class RandomController(BaseController):
    """
    Random controller
    """
    def get_action(self, obs: np.ndarray) -> Tuple[np.ndarray, tuple]:
        """
        Randomly sample action in action space.

        Parameters:
            obs: observation ([pos, vel, rel_pos_robot1, rel_pos_robot2, ...], each sub-vector length=dim)

        Returns:
            action: action ([acc], length=dim)
            target: lookahead point
        """
        return self.action_space.sample(), self.goal

get_action(obs)

Randomly sample action in action space.

Parameters:

Name Type Description Default
obs ndarray

observation ([pos, vel, rel_pos_robot1, rel_pos_robot2, ...], each sub-vector length=dim)

 required

Returns:

Name Type Description
action ndarray

action ([acc], length=dim)
target tuple

lookahead point
Source code in src\python_motion_planning\controller\random_controller.py
Python
def get_action(self, obs: np.ndarray) -> Tuple[np.ndarray, tuple]:
    """
    Randomly sample action in action space.

    Parameters:
        obs: observation ([pos, vel, rel_pos_robot1, rel_pos_robot2, ...], each sub-vector length=dim)

    Returns:
        action: action ([acc], length=dim)
        target: lookahead point
    """
    return self.action_space.sample(), self.goal