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Implements a tactic in which an agent uses a PID controler to reach its goal position.
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a list of ShipExternalState |
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CompositeAction |
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Composes a PID-controller-based action in order to reach the goal. This function is by default used in unless there is a collision danger. |
According to the estimation, how much should we turn to point at the goal Keyword arguments: estimatedState -- estimated ShipExternalState returns: The angle we should turn |
Compute a list of ships that are on path to potential collision with the agent's ship.
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Compute an action to take when there is a collision danger.
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