Headlamp #8
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Headlamp #8
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Remove the qualities associated with headlamps and move preconditions to actions
schmerl
commented
Sep 8, 2021
| @@ -24,7 +24,7 @@ | |||
| "objective": "energyConsumption", | |||
| "scaling-const": 0.3, | |||
| "min-step-value": 0.0, | |||
| "max-step-value": 2525 | |||
| "max-step-value": 4185.0 | |||
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This needs to change to cater for added energy along the longest path if the headlamp was turned on.
schmerl
commented
Sep 8, 2021
| @@ -28,9 +28,11 @@ | |||
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| private StateVarDefinition<Location> mrLocDef; | |||
| private EffectClass mEffectClass; // of rLoc | |||
| private StateVarDefinition<HeadlampState> mrHeadlampDef; | |||
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Movement probability now depends on the headlamp state, so change this file to add headlamp as a discriminant class and to use it to calculate transition probability.
schmerl
commented
Sep 8, 2021
| @@ -34,12 +34,13 @@ | |||
| private FormulaActionDescription<MoveToAction> mrLocActionDesc; | |||
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| public RobotLocationActionDescription(ActionDefinition<MoveToAction> moveToDef, | |||
| Precondition<MoveToAction> precondition, StateVarDefinition<Location> rLocDef) { | |||
| Precondition<MoveToAction> precondition, StateVarDefinition<Location> rLocDef, StateVarDefinition<HeadlampState> rHeadlampDef) { | |||
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Now depend on headlamp state var
schmerl
commented
Sep 8, 2021
| @@ -1,44 +1,52 @@ | |||
| package examples.mobilerobot.metrics; | |||
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| import examples.mobilerobot.models.HeadlampState; | |||
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EnergyConsumption now depends on headlamp state, so add that here.
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This pull request shows how to add a headlamp turn on/off action to the robot scenario. The idea is that:
The changes in this PR are broadly described as:
MoveActionto include the headlamp state of the robot