55 lines
1.7 KiB
Python
55 lines
1.7 KiB
Python
import argparse
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from PythonLinearNonlinearControl.helper import bool_flag, make_logger
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from PythonLinearNonlinearControl.controllers.make_controllers import make_controller
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from PythonLinearNonlinearControl.planners.make_planners import make_planner
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from PythonLinearNonlinearControl.configs.make_configs import make_config
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from PythonLinearNonlinearControl.models.make_models import make_model
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from PythonLinearNonlinearControl.envs.make_envs import make_env
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from PythonLinearNonlinearControl.runners.make_runners import make_runner
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from PythonLinearNonlinearControl.plotters.plot_func import plot_results, \
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save_plot_data
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from PythonLinearNonlinearControl.plotters.animator import Animator
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def run(args):
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make_logger(args.result_dir)
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env = make_env(args)
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config = make_config(args)
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planner = make_planner(args, config)
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model = make_model(args, config)
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controller = make_controller(args, config, model)
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runner = make_runner(args)
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history_x, history_u, history_g = runner.run(env, controller, planner)
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plot_results(history_x, history_u, history_g=history_g, args=args)
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save_plot_data(history_x, history_u, history_g=history_g, args=args)
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if args.save_anim:
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animator = Animator(env, args=args)
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animator.draw(history_x, history_g)
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def main():
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parser = argparse.ArgumentParser()
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parser.add_argument("--controller_type", type=str, default="NMPCCGMRES")
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parser.add_argument("--env", type=str, default="TwoWheeledConst")
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parser.add_argument("--save_anim", type=bool_flag, default=0)
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parser.add_argument("--result_dir", type=str, default="./result")
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args = parser.parse_args()
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run(args)
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if __name__ == "__main__":
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main()
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