smarts.core.controllers.direct_controller module

class smarts.core.controllers.direct_controller.DirectController

A controller that directly sets a vehicle’s acceleration and angular velocity (rather than applying forces like torque) based on kinematics.

classmethod perform_action(dt: float, vehicle, action: float | Tuple[float, float])

Performs an action adapting to the underlying chassis. :param dt: A delta time value. :type dt: float :param vehicle: The vehicle to control. :type vehicle: Vehicle :param action: (speed) XOR (acceleration, angular_velocity) :type action: Union[float, Tuple[float, float]]