def _decide_motor_value(self):
det = self._object_detection()
if det is None:
forward = 5.0
angle = 0.0
# otherwsie steer towards target
else:
# move robot forward and steer proportional target's x-distance from center
center = detection_center(det)
forward = 5.0
angle = 5.0 * center[0]
print("det:{}".format(det))
return forward, angle
def decide_motor_value(self):
prob = self._decide_blocked()
self.collision_state = prob > 0.5
self.update_target_detection()
self.get_bottle = False
if self.target_detection:
rbbox = self.target_detection['rbbox']
closer = (rbbox[2] - rbbox[0]) * (rbbox[3] - rbbox[1])
else:
closer = 0.0
# otherwise go forward if no target detected
if self.collision_state:
forward = 0.0
angle = self.turn_block
elif self.target_detection is None:
forward = self.speed
angle = 0.0
# otherwsie steer towards target
else:
if closer > 0.2:
forward = 0.0
angle = 0.0
#angle = self.turn_block
self.get_bottle = True
else:
# move robot forward and steer proportional target's x-distance from center
center = detection_center(self.target_detection)
forward = self.speed * 0.8
angle = 0.001 * (150 - center[0])
#angle = self.turn_gain * center[0]
rospy.loginfo("center: {}".format(center))
rospy.loginfo(
"blocked: {}, det:{}, closer:{}, forward:{}, angle:{}".format(
prob, self.target_detection, closer, forward, angle))
return forward, angle, self.get_bottle
def _decide_motor_value(self):
self.collision_state = self._decide_blocked() > 0.3
self.target_detection = self._object_detection()
# otherwise go forward if no target detected
if self.collision_state:
forward = 0.0
angle = self.turn_block
elif self.target_detection is None:
forward = self.speed
angle = 0.0
# otherwsie steer towards target
else:
# move robot forward and steer proportional target's x-distance from center
center = detection_center(self.target_detection)
forward = self.speed
angle = self.turn_gain * center[0]
rospy.loginfo("blocked: {}, det:{}".format(self.collision_state,
self.target_detection))
return forward, angle