smarts.core.controllers.motion_planner_controller module

class smarts.core.controllers.motion_planner_controller.MotionPlannerController

A controller that shapes agent vehicle motion to follow a motion plan.

classmethod perform_action(controller_state: MotionPlannerControllerState, dt: float, vehicle, action: ndarray | None)

Performs an action adapting to the underlying chassis.

Parameters:

• controller_state (MotionPlannerControllerState) – The previous controller state from this controller.

• dt (float) – Amount of time that has passed since the last action.

• vehicle (Vehicle) – Vehicle to control.

• action – Pose denoted by [x_coordinate, y_coordinate, heading, t_s], at t_s seconds into future.

class smarts.core.controllers.motion_planner_controller.MotionPlannerControllerState

Controller state

get_next_state(cur_pose: Pose, cur_speed: float, dt: float, target_pose_at_t: ndarray | None) → Tuple[Pose, float]

Computes a cubic bezier curve to the target_pose_at_t.