Closed Debjoy10 closed 4 years ago
For running the optimisation loop - run python cem_planner.py 0
, which saves params and obstacle positions in a directory(CEM_data
). Then running python cem_planner.py 1
, retrieves info from the directory, creates the trajectory and runs on AirSim.
Argh, okay so CEM needs a better score. Probably snap and jerk would be better.
Doesn't properly work. Need for a better score function in
evaluate()
. Stuff to fix: