(planned_motion, perturb, motion_length)
| 82 | return np.array(pred_motion) |
| 83 | |
| 84 | def generative_controller(planned_motion, perturb, motion_length): |
| 85 | if motion_length == planned_motion.shape[1]: |
| 86 | rollout_traj = execute_actions(planned_motion, perturb) |
| 87 | rollout_traj = rollout_traj[:, :-1] |
| 88 | return np.array(rollout_traj) |
| 89 | else: |
| 90 | padded_planned_motion = np.concatenate([planned_motion, planned_motion[:, :motion_length-planned_motion.shape[1]]], 1) |
| 91 | rollout_traj = execute_actions(padded_planned_motion, perturb) |
| 92 | rollout_traj = rollout_traj[:, :planned_motion.shape[1]] |
| 93 | return np.array(rollout_traj) |
| 94 | |
| 95 | if __name__ == '__main__': |
| 96 | with st.form(key='text_input'): |
no test coverage detected