28 lines
865 B
Python
28 lines
865 B
Python
from .mpc import LinearMPC
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from .cem import CEM
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from .random import RandomShooting
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from .mppi import MPPI
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from .mppi_williams import MPPIWilliams
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from .ilqr import iLQR
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from .ddp import DDP
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def make_controller(args, config, model):
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if args.controller_type == "MPC":
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return LinearMPC(config, model)
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elif args.controller_type == "CEM":
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return CEM(config, model)
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elif args.controller_type == "Random":
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return RandomShooting(config, model)
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elif args.controller_type == "MPPI":
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return MPPI(config, model)
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elif args.controller_type == "MPPIWilliams":
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return MPPIWilliams(config, model)
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elif args.controller_type == "iLQR":
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return iLQR(config, model)
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elif args.controller_type == "DDP":
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return DDP(config, model)
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raise ValueError("No controller: {}".format(args.controller_type))
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