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Controllers

This module defines the controller used by the agent to interact with its environment.

Thrust1dController (BaseController) ¤

A controller to apply thrust along a single axis.

Parameters¤

parent_platform : Docking1dPlatform the platform to which the controller belongs config : dict contains configuration proprties control_properties : corl.libraries.property.BoxProp a class to define the acceptable bounds and units of the controller's control

Source code in corl/simulators/docking_1d/controllers.py 
class Thrust1dController(BaseController):
    """
    A controller to apply thrust along a single axis.

    Parameters
    ----------
    parent_platform : Docking1dPlatform
        the platform to which the controller belongs
    config : dict
        contains configuration proprties
    control_properties : corl.libraries.property.BoxProp
        a class to define the acceptable bounds and units of the controller's control
    """

    def __init__(
        self,
        parent_platform,
        config,
        control_properties=ThrustProp,
    ):  # pylint: disable=W0102
        self.config: Thrust1dControllerValidator  # noqa # pylint: disable=undefined-variable
        super().__init__(property_class=control_properties, parent_platform=parent_platform, config=config)

    @property
    def name(self):
        """
        Returns
        -------
        String
            name of the controller
        """
        return self.config.name

    def apply_control(self, control: np.ndarray) -> None:
        """
        Applies control to the parent platform

        Parameters
        ----------
        control
            ndarray describing the control to the platform
        """
        self.parent_platform.save_action_to_platform(action=control)

    def get_applied_control(self) -> np.ndarray:
        """
        Retreive the applied control to the parent platform

        Returns
        -------
        np.ndarray
            Previously applied action

        """
        return self.parent_platform.get_applied_action()

name property readonly ¤

Returns¤

String name of the controller

apply_control(self, control) ¤

Applies control to the parent platform

Parameters¤

control ndarray describing the control to the platform

Source code in corl/simulators/docking_1d/controllers.py 
def apply_control(self, control: np.ndarray) -> None:
    """
    Applies control to the parent platform

    Parameters
    ----------
    control
        ndarray describing the control to the platform
    """
    self.parent_platform.save_action_to_platform(action=control)

get_applied_control(self) ¤

Retreive the applied control to the parent platform

Returns¤

np.ndarray Previously applied action

Source code in corl/simulators/docking_1d/controllers.py 
def get_applied_control(self) -> np.ndarray:
    """
    Retreive the applied control to the parent platform

    Returns
    -------
    np.ndarray
        Previously applied action

    """
    return self.parent_platform.get_applied_action()