def update(self, balls, dt):
logging.debug('Predicted ball position: %s', pos2string(self.getPos()))
pos = self.getPos()
if len(balls) > 0:
def ball_dist(x):
return dist(self.getPos(), entCenter(x))
balls_sorted = sorted(balls, key=ball_dist)
best_match = balls_sorted[0]
pos = entCenter(best_match)
self.Ps.update(pos)
self.Vs.update(pos)
self.velocity = self.Vs.predict(1. / dt) - pos
def update(self, balls, dt):
logging.debug( 'Predicted ball position: %s',
pos2string(self.getPos()) )
pos = self.getPos()
if len(balls) > 0:
def ball_dist(x):
return dist( self.getPos(), entCenter(x) )
balls_sorted = sorted( balls, key=ball_dist )
best_match = balls_sorted[0]
pos = entCenter(best_match)
self.Ps.update(pos)
self.Vs.update(pos)
self.velocity = self.Vs.predict(1./dt) - pos
def update(self, robots, dt):
logging.debug( 'Predicted robot position: %s',
pos2string(self.getPos()) )
pos = self.getPos()
if len(robots) > 0 and robots[0] is not None:
def robot_dist(x):
return dist( self.getPos(), entCenter(x) )
robots_sorted = sorted( robots, key=robot_dist )
best_match = robots_sorted[0]
pos = entCenter(best_match)
if 'orient' in best_match:
angle = best_match['orient']
self.orientation[:] = cos(angle), sin(angle)
self.Ps.update(pos)
self.Vs.update(pos)
self.velocity = self.Vs.predict(1./dt) - pos
def update(self, robots, dt):
logging.debug('Predicted robot position: %s',
pos2string(self.getPos()))
pos = self.getPos()
if len(robots) > 0 and robots[0] is not None:
def robot_dist(x):
return dist(self.getPos(), entCenter(x))
robots_sorted = sorted(robots, key=robot_dist)
best_match = robots_sorted[0]
pos = entCenter(best_match)
if 'orient' in best_match:
angle = best_match['orient']
self.orientation[:] = cos(angle), sin(angle)
self.Ps.update(pos)
self.Vs.update(pos)
self.velocity = self.Vs.predict(1. / dt) - pos
