Module Import alias ImportFrom alias Import alias Import alias FunctionDef arguments args NameParam NameParam defaults body Assign NameStore BinOpAdd BinOpAdd Call NameLoad BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call NameLoad BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr Call NameLoad BinOpSub AttributeLoad NameLoad attr AttributeLoad NameLoad attr Return CompareLt NameLoad Num decorator_list FunctionDef arguments args NameParam defaults body Assign TupleStore NameStore NameStore TupleLoad Call NameLoad BinOpDiv AttributeLoad NameLoad attr Num Call NameLoad BinOpDiv AttributeLoad NameLoad attr Num Return BinOpAdd NameLoad BinOpMult Num NameLoad decorator_list ClassDef bases NameLoad body FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr BinOpMod Str AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr decorator_list FunctionDef arguments args NameParam NameParam defaults body If CompareEq AttributeLoad NameLoad attr NameLoad body Return Num If CompareEq AttributeLoad NameLoad attr NameLoad body Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Return Num Assign NameStore Num If CompareEq NameLoad Num body Assign NameStore UnaryOpNot Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr Assign NameStore IfExp NameLoad Num Num Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Return NameLoad decorator_list decorator_list ClassDef bases NameLoad body Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore ListLoad Num Num Num Num Num Num Num Num Num Num Num Num Num Num Num Num Assign NameStore Call NameLoad NameLoad FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Expr Call AttributeLoad NameLoad attr Expr Call AttributeLoad NameLoad attr BinOpMod Str AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr decorator_list FunctionDef arguments args NameParam defaults body Assign AttributeStore NameLoad attr NameLoad Assign AttributeStore NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam NameParam defaults body Assign AttributeStore NameLoad attr AttributeLoad AttributeLoad AttributeLoad NameLoad attr attr attr decorator_list FunctionDef arguments args NameParam defaults body If CompareEq AttributeLoad NameLoad attr NameLoad body Return Num If CompareEq AttributeLoad NameLoad attr NameLoad body Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Return Num Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Call NameLoad AttributeLoad NameLoad attr Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Call NameLoad AttributeLoad NameLoad attr Assign NameStore NameLoad Assign NameStore Call NameLoad AttributeLoad NameLoad attr If CompareEq NameLoad NameLoad body If Call NameLoad AttributeLoad NameLoad attr AttributeLoad NameLoad attr body Assign NameStore Num orelse Assign NameStore NameLoad orelse If CompareEq NameLoad BinOpMod BinOpAdd NameLoad Num NameLoad body Assign NameStore NameLoad orelse If CompareEq NameLoad BinOpMod BinOpSub NameLoad Num NameLoad body Assign NameStore NameLoad orelse Print AttributeLoad NameLoad attr Str Assign AttributeStore NameLoad attr NameLoad Return Num Assign AttributeStore NameLoad attr AttributeLoad NameLoad attr Return NameLoad decorator_list decorator_list
N/A N/A rospy nav_msgs.msg Odometry N/A sys N/A time close N/A N/A p1 p2 N/A N/A N/A diff N/A N/A N/A abs N/A N/A p1 x N/A p2 x N/A abs N/A N/A p1 y N/A p2 y N/A abs N/A N/A p1 z N/A p2 z N/A N/A diff 1e-06 N/A grid_pt_for_pos N/A N/A pos N/A N/A N/A N/A gx gy N/A N/A int N/A N/A pos x 2 N/A int N/A N/A pos y 2 N/A N/A gx N/A 5 gy N/A MovingOdomReward N/A object N/A __init__ N/A N/A self robot_id N/A N/A N/A N/A self robot_id robot_id N/A N/A N/A self reset N/A N/A N/A rospy Subscriber N/A /robot%s/odom N/A self robot_id Odometry N/A self odom_callback N/A reset N/A N/A self N/A N/A N/A N/A self last_pos None N/A N/A self latest_pos None N/A odom_callback N/A N/A self msg N/A N/A N/A N/A self latest_pos N/A N/A N/A msg pose pose position N/A reward N/A N/A self last_action N/A N/A N/A N/A N/A self latest_pos None N/A N/A 0 N/A N/A N/A self last_pos None N/A N/A N/A self last_pos N/A self latest_pos N/A 0 N/A r 0 N/A N/A last_action 0 N/A N/A moved N/A N/A close N/A self latest_pos N/A self last_pos N/A r N/A moved 1 -1 N/A N/A self last_pos N/A self latest_pos N/A r N/A N/A CoarseGridOdomReward N/A object N/A N/A REWARD_MOVE_FORWARD_A_BIT 1 N/A REWARD_MOVE_FORWARD_ONE_GRID 0 N/A REWARD_MOVE_BACKWARD_ONE_GRID 0 N/A GRID_ORDER N/A 22 23 24 19 14 9 4 3 2 7 12 11 10 15 20 21 N/A LEN N/A len GRID_ORDER __init__ N/A N/A self robot_id N/A N/A N/A N/A self robot_id robot_id N/A N/A N/A self reset N/A N/A N/A rospy Subscriber N/A /robot%s/odom N/A self robot_id Odometry N/A self odom_callback N/A reset N/A N/A self N/A N/A N/A N/A self last_pos None N/A N/A self latest_pos None N/A odom_callback N/A N/A self msg N/A N/A N/A N/A self latest_pos N/A N/A N/A msg pose pose position N/A reward N/A N/A self N/A N/A N/A N/A N/A self latest_pos None N/A N/A 0 N/A N/A N/A self last_pos None N/A N/A N/A self last_pos N/A self latest_pos N/A 0 N/A latest_grid_idx N/A N/A N/A OdomReward GRID_ORDER index N/A grid_pt_for_pos N/A self latest_pos N/A last_grid_idx N/A N/A N/A OdomReward GRID_ORDER index N/A grid_pt_for_pos N/A self last_pos N/A r None N/A wrap N/A len N/A OdomReward GRID_ORDER N/A N/A latest_grid_idx last_grid_idx N/A N/A N/A close N/A self latest_pos N/A self last_pos N/A N/A r 0 N/A N/A r REWARD_MOVE_FORWARD_A_BIT N/A N/A N/A latest_grid_idx N/A N/A last_grid_idx 1 wrap N/A N/A r REWARD_MOVE_FORWARD_ONE_GRID N/A N/A N/A latest_grid_idx N/A N/A last_grid_idx 1 wrap N/A N/A r REWARD_MOVE_BACKWARD_ONE_GRID N/A N/A N/A sys stderr odom reward; reset? N/A N/A self last_pos None N/A 0 N/A N/A self last_pos N/A self latest_pos N/A r N/A N/A