def test(self):
prev_value = self.ids.slider.value
try:
value = limit2(float(self.ids.text.text), self.ids.slider.min, self.ids.slider.max)
self.ids.slider.value = value
self.ids.text.text = "{:.4f}".format(value)
except ValueError:
#self.value = prev_value
self.ids.text.text = "{:.4f}".format(prev_value)
def test(self):
prev_value = self.value
try:
value = limit2(float(self.ids.text.text), self.ids.slider.min,
self.ids.slider.max)
self.value = value
self.ids.text.text = str(value)
except ValueError:
self.value = prev_value
self.ids.text.text = str(prev_value)
def add_point(self):
"""Adds a point to current trajectory"""
dx = [50.0, 120.0]
dy = [-30.0, 30.0]
dt = [-20.0, 20.0]
# Generate semi - random point (Previous point + dx, dy, dt)
pose = self.current_trajectory.poses[len(self.current_trajectory.poses) - 1].transform(to_pose(uniform(dx[0], dx[1]), uniform(dy[0], dy[1]), uniform(dt[0], dt[1])))
pose.translation.x = limit2(pose.translation.x, 15, 614.25)
pose.translation.y = limit2(pose.translation.y, -146.625, 146.625)
# Add new point to trajectory
self.current_trajectory.add_pose(pose)
# Add new point to GUI
self.screen.ids.point_list.add_widget(PointDrawer())
self.screen.ids.point_list.children[0].ids.left_container.initial_update(pose.translation.x, pose.translation.y, pose.rotation.get_degrees())
# Re-draw points to include new pose
self.update_points()
def update_y(self):
"""Updates y"""
try:
value = float(self.children[1].text)
value = limit2(value, -161.625 + RADIUS, 161.625 - RADIUS)
self.children[1].text = "{:.3f}".format(value)
MDApp.get_running_app().current_trajectory.update_pose(self.get_index(), value, "y")
MDApp.get_running_app().update_points()
except ValueError:
self.children[1].text = self.prev_y
pass
self.prev_y = self.children[1].text
def test_util(self):
"""Tests util methods"""
# Test limit2
self.assertAlmostEqual(1.0, limit2(1.0, -2.0, 4.0))
self.assertAlmostEqual(-0.0, limit2(1.0, -2.0, -0.0))
self.assertAlmostEqual(-2.0, limit2(-5.0, -2.0, -0.0))
# Test limit
self.assertAlmostEqual(1.0, limit(1.0, 4.0))
self.assertAlmostEqual(4.0, limit(6.0, 4.0))
self.assertAlmostEqual(-3.0, limit(-5.0, 3.0))
# Test interpolate
self.assertAlmostEqual(1.0, interpolate(.0, 4.0, .25))
self.assertAlmostEqual(1.0, interpolate(-1, 4.0, .4))
self.assertAlmostEqual(1.0, interpolate(4.0, 0.0, .75))
# Test epsilon_equals
self.assertTrue(epsilon_equals(1, 1.5, .5))
self.assertTrue(epsilon_equals(2, 1.5, .5))
self.assertFalse(epsilon_equals(1, 1.5))
def update_x(self):
"""Updates x"""
try:
value = float(self.children[2].text)
value = limit2(value, 0 + RADIUS, 629.25 - RADIUS)
self.children[2].text = "{:.3f}".format(value)
# https://stackoverflow.com/questions/32162180/how-can-i-refer-to-kivys-root-widget-from-python
MDApp.get_running_app().current_trajectory.update_pose(self.get_index(), value, "x")
MDApp.get_running_app().update_points()
except ValueError:
self.children[2].text = self.prev_x
pass
self.prev_x = self.children[2].text
def advance(self, additional_progress):
"""Returns the current sample after moving forward by additional_progress"""
self.progress = limit2(additional_progress, self.start_t, self.end_t)
self.current_sample = self.sample(self.progress)
return self.current_sample