def takeAction()

in robot_ws/src/turtlebot_controller/robomaker/inference_worker.py [0:0]

• 22 lines of code
• 6 McCabe index (conditional complexity)

    def takeAction(self, action):
        # Convert discrete to continuous
        if action == 0:  # turn left
            steering = 1.159
            throttle = 0.08
        elif action == 1:  # turn right
            steering = -1.159
            throttle = 0.08
        elif action == 2:  # straight
            steering = 0
            throttle = 0.2
        elif action == 3:  # steer to the left
            steering = 0.6
            throttle = 0.09
        elif action == 4:  # steer to the right
            steering = -0.6
            throttle = 0.09
        else:  # should not be here
            raise ValueError("Invalid action")
            
        speed = Twist()
        speed.linear.x = throttle
        speed.angular.z = steering
        self.ack_publisher.publish(speed)