def heuristic_Controller()

in LA-MCTS/functions/functions.py [0:0]

• 20 lines of code
• 9 McCabe index (conditional complexity)

    def heuristic_Controller(self, s, w):
        angle_targ = s[0] * w[0] + s[2] * w[1]
        if angle_targ > w[2]:
            angle_targ = w[2]
        if angle_targ < -w[2]:
            angle_targ = -w[2]
        hover_targ = w[3] * np.abs(s[0])

        angle_todo = (angle_targ - s[4]) * w[4] - (s[5]) * w[5]
        hover_todo = (hover_targ - s[1]) * w[6] - (s[3]) * w[7]

        if s[6] or s[7]:
            angle_todo = w[8]
            hover_todo = -(s[3]) * w[9]

        a = 0
        if hover_todo > np.abs(angle_todo) and hover_todo > w[10]:
            a = 2
        elif angle_todo < -w[11]:
            a = 3
        elif angle_todo > +w[11]:
            a = 1
        return a