def __init__(self, group=None, target=None, name=None, args=(), kwargs={}, daemon=None, sensorConversionThread=None):
'''
Initializes the control planner
@param Refer to the Python Thread class for documentation on all thread specific parameters
@param sensorConversionThread - the sensor conversion thread
'''
Thread.__init__(self, group=group, target=target, name=name, daemon=daemon)
Publisher.__init__(self)
self.args = args
self.kwargs = kwargs
self.sensorConversionThread = sensorConversionThread
self.shutDown = False
self.wallFollowPID = PID(Constants.WALL_FOLLOW_PID_P, Constants.WALL_FOLLOW_PID_I, Constants.WALL_FOLLOW_PID_D, Constants.WALL_FOLLOW_PID_WINDUP)
self.wallFollowPID.setGoal(Constants.WALL_FOLLOW_PID_DIST_GOAL)
self.vehicleLeftDistance = 0.0
self.vehicleRightDistance = 0.0
self.vehicleSteeringAngle = 0.0
self.steeringAngleGoal = 0.0
# TODO: Velocity goals?
self.velocityGoal = 0.5
self.currentTime = time.time()
def __init__(self,
group=None,
target=None,
name=None,
args=(),
kwargs={},
daemon=None,
courseMap=None,
sensorConversionThread=None):
'''
Initializes the control planner
@param Refer to the Python Thread class for documentation on all thread specific parameters
@param courseMap - the course map
@param sensorConversionThread - the sensor conversion thread
'''
Thread.__init__(self,
group=group,
target=target,
name=name,
daemon=daemon)
Publisher.__init__(self)
self.args = args
self.kwargs = kwargs
self.courseMap = courseMap
self.particleFilter = ParticleFilter(Constants.PARTICLE_NUMBER,
Constants.MAP_START_BOX,
Constants.MAP_HEADING_RANGE,
self.courseMap,
sensorConversionThread)
self.shutDown = False
self.estVehicleX = 0.0
self.estVehicleY = 0.0
self.estVehicleHeading = 0.0
self.covarVehicle = None
self.waypoint = 0
self.waypointCheck = 0
self.steeringAngleGoal = 0.0
self.velocityGoal = 0.0
def __init__(self, name):
Publisher.__init__(self)
self.name = name
self._data = 0
def __init__(self, **kwargs):
Publisher.__init__(self, **kwargs)
self._xslt = XsltTransformer(caller=self)
if not self.script:
self.script = self._xslt.script
def __init__(self, **kwargs):
Publisher.__init__(self, **kwargs)
self._xslt = XsltTransformer(caller=self)
if not self.script:
self.script = self._xslt.script
