File size: 636 Bytes
7985e7e | 1 2 3 4 5 6 7 8 9 10 11 12 13 | --- a/policy/direct.py
+++ b/policy/direct.py
@@ -76,6 +76,9 @@
if prediction_objective == "distance":
objective_fn = self._make_distance_objective(normalizer)
+ import os # GlobMP as the projector: DIRECT_PROJECTOR=globmp
+ if os.environ.get('DIRECT_PROJECTOR', '') == 'globmp': # (applications/avoiding/globmp_projector.py)
+ from globmp_projector import GlobMPProjector as IpoptProjector
self._projector = IpoptProjector(
circular_obstacles=circular_obs,
planar_obstacles=planar_obs,
|