Skip to content

test_squares

TestSquaresAction #

Bases: Action

Run in square x times.

Source code in cogip/tools/planner/actions/test_squares.py 
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
class TestSquaresAction(Action):
    """
    Run in square x times.
    """

    def __init__(self, planner: "Planner", actions: Actions, *, count: int, size: int):
        super().__init__(f"TestSquares action x{count}", planner, actions)
        self.count = count
        self.size = size
        self.interruptable = False
        self.before_action_func = self.before_action

    async def before_action(self):
        logger.info(f"{self.name}: before_action")
        self.game_context.avoidance_strategy = AvoidanceStrategy.Disabled
        self.planner.shared_properties["avoidance_strategy"] = AvoidanceStrategy.Disabled
        start_pose = self.pose_current
        linear_speed = 50
        angular_speed = 50

        pose1 = Pose(
            **get_relative_pose(
                start_pose,
                front_offset=self.size,
                angular_offset=90,
            ).model_dump(),
            max_speed_linear=linear_speed,
            max_speed_angular=angular_speed,
            allow_reverse=False,
        )

        pose2 = Pose(
            **get_relative_pose(
                pose1,
                front_offset=self.size,
                angular_offset=90,
            ).model_dump(),
            max_speed_linear=linear_speed,
            max_speed_angular=angular_speed,
            allow_reverse=False,
        )

        pose3 = Pose(
            **get_relative_pose(
                pose2,
                front_offset=self.size,
                angular_offset=90,
            ).model_dump(),
            max_speed_linear=linear_speed,
            max_speed_angular=angular_speed,
            allow_reverse=False,
        )

        pose4 = Pose(
            **start_pose.model_dump(),
            max_speed_linear=linear_speed,
            max_speed_angular=angular_speed,
            allow_reverse=False,
        )

        for i in range(self.count):
            self.poses.append(pose1)
            self.poses.append(pose2)
            self.poses.append(pose3)
            self.poses.append(pose4)

    def weight(self) -> float:
        return 1000000.0