Update solver.py #14
Open
Update solver.py #14
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
multi-timestep collision avoidance and storing the value function at every timestep
buinm
requested changes
Sep 14, 2021
Collaborator
buinm
left a comment
buinm
left a comment
There was a problem hiding this comment.
Hey Ken,
Thank you for making the changes, these changes will be very useful for us going forward. There are just some comments over some of your changes, please let have a look at them and let me know if there are anything concerning you.
|
|
||
|
|
||
| # saving value function at each timestep | ||
| if grid.dims == 3: |
Collaborator
There was a problem hiding this comment.
It might be shorter to do the following:
valfuns = np.zeros(np.insert(tuple(grid.pts_each_dim), grid.dims, len(tau)))
valfuns[..., -1 ] = V_0.asnumpy()
| if "TargetSetMode" in compMethod: | ||
| if compMethod["TargetSetMode"] == "max": | ||
| tmp_val = np.maximum(V_0.asnumpy(), constraint) | ||
| tmp_val = np.maximum(V_0.asnumpy(), -constraint_i) |
Collaborator
There was a problem hiding this comment.
I think it's better to keep it as constraint. The negate operation on the constraint value array should just be done by users before passing in the variables to HJSolver function call
| t_minh= hcl.asarray(np.array((tNow, tau[i]))) | ||
| # taking obstacle at each timestep | ||
| if "TargetSetMode" in compMethod and constraint_dim > grid.dims: | ||
| constraint_i = constraint[...,i] |
Collaborator
There was a problem hiding this comment.
Is it a bit too many indentations for the constraint_i = constraint[...,i]
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
multi-timestep collision avoidance and storing the value function at every timestep