| 106 | super().setup(path_to_conf_file) |
| 107 | |
| 108 | def _init(self): |
| 109 | super()._init() |
| 110 | |
| 111 | self._turn_controller = PIDController(K_P=1.25, K_I=0.75, K_D=0.3, n=40) |
| 112 | self._speed_controller = PIDController(K_P=5.0, K_I=0.5, K_D=1.0, n=40) |
| 113 | |
| 114 | # for stop signs |
| 115 | self._target_stop_sign = None # the stop sign affecting the ego vehicle |
| 116 | self._stop_completed = False # if the ego vehicle has completed the stop sign |
| 117 | self._affected_by_stop = False # if the ego vehicle is influenced by a stop sign |
| 118 | |
| 119 | def _get_angle_to(self, pos, theta, target): |
| 120 | R = np.array([ |