PythonLinearNonlinearControl/scripts/simple_run.py at master · ZitengHe/PythonLinearNonlinearControl · GitHub

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import argparse

from PythonLinearNonlinearControl.helper import bool_flag, make_logger

from PythonLinearNonlinearControl.controllers.make_controllers import make_controller

from PythonLinearNonlinearControl.planners.make_planners import make_planner

from PythonLinearNonlinearControl.configs.make_configs import make_config

from PythonLinearNonlinearControl.models.make_models import make_model

from PythonLinearNonlinearControl.envs.make_envs import make_env

from PythonLinearNonlinearControl.runners.make_runners import make_runner

from PythonLinearNonlinearControl.plotters.plot_func import plot_results, \

save_plot_data

from PythonLinearNonlinearControl.plotters.animator import Animator

def run(args):

make_logger(args.result_dir)

env = make_env(args)

config = make_config(args)

planner = make_planner(args, config)

model = make_model(args, config)

controller = make_controller(args, config, model)

runner = make_runner(args)

history_x, history_u, history_g = runner.run(env, controller, planner)

plot_results(history_x, history_u, history_g=history_g, args=args)

save_plot_data(history_x, history_u, history_g=history_g, args=args)

if args.save_anim:

animator = Animator(env, args=args)

animator.draw(history_x, history_g)

def main():

parser = argparse.ArgumentParser()

parser.add_argument("--controller_type", type=str, default="NMPCCGMRES")

parser.add_argument("--env", type=str, default="TwoWheeledConst")

parser.add_argument("--save_anim", type=bool_flag, default=0)

parser.add_argument("--result_dir", type=str, default="./result")

args = parser.parse_args()

run(args)

if __name__ == "__main__":

main()

PythonLinearNonlinearControl/scripts/simple_run.py at master · ZitengHe/PythonLinearNonlinearControl · GitHub

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