Monty.Frameworks.Models.Salience.MotorPolicy.LookAtGoal (ExTbpMonty.Core v0.1.0)

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A policy that turns to look at a goal: the agent yaws, the sensor pitches.

Mirrors tbp/monty/frameworks/models/salience/motor_policy.py::LookAtGoal, and assumes the body it drives is a two-axis gimbal — the agent turns left and right about the vertical axis, the sensor on it looks up and down about the horizontal one. That is the distant agent: a camera on a neck.

Two actions come out of one step, and only ever these two: TurnLeft by the target's azimuth, and LookUp by the target's elevation measured from where the sensor is already pointing. Turning right and looking down are negative degrees on the same actions, which is why the action list has two entries and not four.

Everything is computed in frames, not in degrees, until the last line: the target is moved into the agent's frame by the agent's inverse rotation, and then into the sensor's frame by the sensor's, because the sensor may be pitched relative to the body it sits on.

Summary

Types

t()

Functions

call(policy, ctx, observations, state, percept, goal)

The turn and the pitch that put the sensor on the goal.

new(options)

A look-at policy for :agent_id, aiming the sensor :sensor_id.

reset(policy)

Nothing to forget: where the sensor points is the world's business.

state_dict(policy)

Which body and which sensor it aims.

Types

t()

@type t() :: %Monty.Frameworks.Models.Salience.MotorPolicy.LookAtGoal{
  agent_id: atom() | String.t(),
  sensor_id: atom() | String.t()
}

Functions

call(policy, ctx, observations, state, percept, goal)

@spec call(
  t(),
  Monty.Context.t(),
  map() | nil,
  Monty.Frameworks.Models.MotorSystemState.t(),
  Monty.Cmp.Message.t() | nil,
  Monty.Cmp.Goal.t() | nil
) :: {Monty.Frameworks.Models.MotorPolicies.MotorPolicyResult.t(), t()}

The turn and the pitch that put the sensor on the goal.

A goal at the sensor is refused: there is no azimuth to turn to. Both refusals and the missing goal become a warning and no action when the run suppresses runtime errors.

new(options)

@spec new(keyword()) :: t()

A look-at policy for :agent_id, aiming the sensor :sensor_id.

reset(policy)

@spec reset(t()) :: t()

Nothing to forget: where the sensor points is the world's business.

state_dict(policy)

@spec state_dict(t()) :: map()

Which body and which sensor it aims.