smarts.core.controllers package

exception smarts.core.controllers.ControllerOutOfLaneException[source]

Bases: Exception

Represents an error due to a vehicle straying too far from any available lane.

class smarts.core.controllers.ControllerState[source]

Bases: object

Controller state

static from_action_space(action_space, vehicle_pose, sim)[source]: Generate the appropriate controller state given an action space.

class smarts.core.controllers.Controllers[source]

Bases: object

Handles vehicle controller selection.

static get_action_shape(action_space: ActionSpaceType)[source]

Describes the shape of actions that are used for standard controllers.

Parameters:: action_space (ActionSpaceType) – The action space to describe.
Raises:: NotImplementedError – The action space requested does is not yet implemented.
Returns:: The action space and the descriptive attribute.
Return type:: Tuple[Any, str]

static perform_action(sim, agent_id, vehicle, action, controller_state, sensor_state, action_space)[source]

Calls control for the given vehicle based on a given action space and action.

Parameters:

sim – A simulation instance.
agent_id – An agent within the simulation that is associated with a vehicle.
vehicle – A vehicle within the simulation that is associated with an agent.
action – The action for the controller to perform.
controller_state – The last vehicle controller state as relates to its action space.
sensor_state – The state of a vehicle sensor as relates to vehicle sensors.
action_space – The action space of the provided action.

class smarts.core.controllers.LaneAction(value)[source]

Bases: Enum

The action for lane space actions.