def plan_action()

in deepracer_follow_the_leader_ws/ftl_navigation_pkg/ftl_navigation_pkg/ftl_navigation_node.py [0:0]

• 28 lines of code
• 13 McCabe index (conditional complexity)

    def plan_action(self, delta):
        """Helper method to calculate action to be undertaken from the detection delta
           received from object_detection_node.

        Args:
        delta (list of floats): detection deltas in x and y axes respectively.

        Returns:
        (int): Action Space Category defined in constants.py
        """
        delta_x = delta[0]
        delta_y = delta[1]

        if delta_y > constants.DeltaValueMap.REVERSE_DELTA_Y:
            # Reverse Bracket
            if delta_x <= constants.DeltaValueMap.REVERSE_RIGHT_DELTA_X:
                # Fast Right
                return constants.ACTION_SPACE[9][constants.ActionSpaceKeys.CATEGORY]
            elif delta_x >= constants.DeltaValueMap.REVERSE_LEFT_DELTA_X:
                # Fast Left
                return constants.ACTION_SPACE[8][constants.ActionSpaceKeys.CATEGORY]
            else:
                # No steering
                return constants.ACTION_SPACE[7][constants.ActionSpaceKeys.CATEGORY]

        elif delta_y <= constants.DeltaValueMap.REVERSE_DELTA_Y \
                and delta_y > constants.DeltaValueMap.FORWARD_DELTA_Y:
            # No Action Bracket
            return constants.ACTION_SPACE[1][constants.ActionSpaceKeys.CATEGORY]

        elif delta_y <= constants.DeltaValueMap.FORWARD_DELTA_Y:
            # Forward Bracket
            if delta_x < constants.DeltaValueMap.FORWARD_LEFT_DELTA_X \
                    and delta_x > constants.DeltaValueMap.FORWARD_FAST_LEFT_DELTA_X:
                # Slow Left
                return constants.ACTION_SPACE[3][constants.ActionSpaceKeys.CATEGORY]
            elif delta_x <= constants.DeltaValueMap.FORWARD_FAST_LEFT_DELTA_X:
                # Fast Left
                return constants.ACTION_SPACE[4][constants.ActionSpaceKeys.CATEGORY]
            elif delta_x > constants.DeltaValueMap.FORWARD_RIGHT_DELTA_X \
                    and delta_x < constants.DeltaValueMap.FORWARD_FAST_RIGHT_DELTA_X:
                # Slow Right
                return constants.ACTION_SPACE[5][constants.ActionSpaceKeys.CATEGORY]
            elif delta_x >= constants.DeltaValueMap.FORWARD_FAST_RIGHT_DELTA_X:
                # Fast Right
                return constants.ACTION_SPACE[6][constants.ActionSpaceKeys.CATEGORY]
            else:
                # No steering
                return constants.ACTION_SPACE[2][constants.ActionSpaceKeys.CATEGORY]

        else:
            # No Action
            return constants.ACTION_SPACE[1][constants.ActionSpaceKeys.CATEGORY]