:param vehicle: actor to apply to local planner logic onto
(self, vehicle, target_speed=20)
| 21 | """ |
| 22 | |
| 23 | def __init__(self, vehicle, target_speed=20): |
| 24 | """ |
| 25 | |
| 26 | :param vehicle: actor to apply to local planner logic onto |
| 27 | """ |
| 28 | super(BasicAgent, self).__init__(vehicle) |
| 29 | |
| 30 | self._proximity_tlight_threshold = 5.0 # meters |
| 31 | self._proximity_vehicle_threshold = 10.0 # meters |
| 32 | self._state = AgentState.NAVIGATING |
| 33 | args_lateral_dict = { |
| 34 | 'K_P': 1, |
| 35 | 'K_D': 0.4, |
| 36 | 'K_I': 0, |
| 37 | 'dt': 1.0/20.0} |
| 38 | self._local_planner = LocalPlanner( |
| 39 | self._vehicle, opt_dict={'target_speed' : target_speed, |
| 40 | 'lateral_control_dict':args_lateral_dict}) |
| 41 | self._hop_resolution = 2.0 |
| 42 | self._path_seperation_hop = 2 |
| 43 | self._path_seperation_threshold = 0.5 |
| 44 | self._target_speed = target_speed |
| 45 | self._grp = None |
| 46 | |
| 47 | def set_destination(self, location): |
| 48 | """ |
nothing calls this directly
no test coverage detected