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Spring
WP6_Robot_Behavior
Motor_Controller
Commits
cbdb0d03
Commit
cbdb0d03
authored
2 years ago
by
AUTERNAUD Alex
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gcff removed from controller.py
parent
4d294b6f
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social_mpc/controller.py
+11
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social_mpc/controller.py
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and
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social_mpc/controller.py
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1
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cbdb0d03
...
...
@@ -28,7 +28,7 @@ import os
from
social_mpc.mpc
import
MPC
from
social_mpc.path
import
PathPlanner
from
social_mpc.goal
import
GoalFinder
from
social_mpc.ssn_model.social_spaces
import
SocialSpaces
from
social_mpc.ssn_model.social_spaces
import
SocialSpaces
,
Group
from
social_mpc
import
utils
from
social_mpc.config.config
import
ControllerConfig
...
...
@@ -512,6 +512,16 @@ class RobotController():
local_position
,
local_angle
,
state
.
humans_velocity
[
i
,
0
],
0
if
n_human
>
1
:
groups
=
gd
.
gcff
.
identify_groups
(
humans
,
stride
=
self
.
controller_config
.
group_detection_stride
)
print
(
'
get_social_cost_map: groups from gcff {}
'
.
format
(
groups
))
groups
=
[]
for
idx
,
group_id
in
enumerate
(
state
.
groups_id
):
if
group_id
!=
-
1
:
groups
.
append
(
Group
(
center
=
state
.
groups_pose
[
idx
],
person_ids
=
np
.
where
(
state
.
humans_group_id
==
group_id
)[
0
]))
else
:
break
print
(
'
get_social_cost_map: groups read from hri listener {}
'
.
format
(
groups
))
f_dsz
=
ssn
.
calc_dsz
(
humans
,
groups
=
groups
)
f_dsz
=
np
.
flip
(
f_dsz
,
axis
=
0
)
logger
.
debug
(
"
Social cost map time : {0}
"
.
format
(
time
.
time
()
-
tic
))
...
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