A class that represents a Workspace, which is actually the goal space i.e.
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| def | __init__ (self, str workspace='normalized_cube', tuple cube_offset=(0, 0, 0), float side_length=13, float discretization_step=1.0) |
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| None | add_end_effector_position (self, np.ndarray end_effector_position, np.ndarray joint_angles) |
| | Registers a visit of the end effector at the given position in the workspaces internal grid. More...
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| float | calculate_coverage (self) |
| | Calculates the coverage by dividing the amount of visited cells by the amount of all cells in the workspace. More...
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| float | calculate_average_redundancy (self) |
| | Calculates the average redundancy by dividing the total amount of visits by the amount of all cells in the workspace. More...
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| List[float] | get_x_range (self) |
| | Get the range as [min, max] of the workspace on the x-axis. More...
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| List[float] | get_y_range (self) |
| | Get the range as [min, max] of the workspace on the y-axis. More...
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| List[float] | get_z_range (self) |
| | Get the range as [min, max] of the workspace on the z-axis. More...
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| side_length |
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| discretization_step |
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| workspace |
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| cube_offset |
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| n_grid_cells |
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| grid |
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A class that represents a Workspace, which is actually the goal space i.e.
all coordinates where the goal can appear.
◆ __init__()
| def morphevo.workspace.Workspace.__init__ |
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self, |
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str |
workspace = 'normalized_cube', |
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tuple |
cube_offset = (0, 0, 0), |
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float |
side_length = 13, |
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float |
discretization_step = 1.0 |
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) |
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- Parameters
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| side_length | the length of each side in case the workspace is a normalized or moved cube |
| discretization_step | step size for discretization |
| workspace | type of workspace: normalized_cube or moved_cube |
| cube_offset | tuple containing the offset of the moved cube |
◆ add_end_effector_position()
| None morphevo.workspace.Workspace.add_end_effector_position |
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self, |
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np.ndarray |
end_effector_position, |
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np.ndarray |
joint_angles |
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) |
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Registers a visit of the end effector at the given position in the workspaces internal grid.
- Parameters
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| end_effector_position | numpy array consisting of the position [x,y,z] of the end effector |
| joint_angles | numpy array containing all joint angles of the genome in the form [j0angel, j0x, j0y, j0z, ...] |
◆ calculate_average_redundancy()
| float morphevo.workspace.Workspace.calculate_average_redundancy |
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self | ) |
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Calculates the average redundancy by dividing the total amount of visits by the amount of all cells in the workspace.
- Returns
- The calculated average redundancy.
◆ calculate_coverage()
| float morphevo.workspace.Workspace.calculate_coverage |
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self | ) |
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Calculates the coverage by dividing the amount of visited cells by the amount of all cells in the workspace.
- Returns
- The calculated coverage.
◆ get_x_range()
| List[float] morphevo.workspace.Workspace.get_x_range |
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self | ) |
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Get the range as [min, max] of the workspace on the x-axis.
- Returns
- A list of 2 containing the minimum and maximum.
◆ get_y_range()
| List[float] morphevo.workspace.Workspace.get_y_range |
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self | ) |
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Get the range as [min, max] of the workspace on the y-axis.
- Returns
- A list of 2 containing the minimum and maximum.
◆ get_z_range()
| List[float] morphevo.workspace.Workspace.get_z_range |
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self | ) |
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Get the range as [min, max] of the workspace on the z-axis.
- Returns
- A list of 2 containing the minimum and maximum.
The documentation for this class was generated from the following file:
- src/morphevo/workspace.py
