Waypoints

class WaypointsTask

This class implement a task that makes the agent reach a sequence of waypoints, calling Controller.go_to_position for the next waypoint after the current has been reached within a tolerance.

The task notifies when a new waypoint is set by calling a callback.

Registered properties:

• waypoints (list of Vector2, waypoints)

• loop (bool, loop)

• random (bool, random)

• tolerance (bool, tolerance)

__init__(waypoints: list[Vector2] = [], loop: bool = True, tolerance: float = 1.0) → None

Constructs a new instance.

Parameters:

• waypoints – The waypoints

• loop – Whether it should start from begin after reaching the last waypoint

• tolerance – The goal tolerance applied to each waypoint.

• random – Whether to pick the next waypoint randomly

property log_size

Type:

int

The size of the data passed to callbacks when events occur, see TaskCallback and Task.add_callback().

The data is composed of 4 numbers: [time, target_x, target_y, target_theta]

property loop

Type:

bool

Whether it should start from begin after reaching the last waypoint.

property random

Type:

bool

Whether to pick the next waypoint randomly

property tolerance

Type:

float

The goal tolerance applied to each waypoint.

property waypoints

Type:

list[Vector2]

The waypoints.