def calc_map_range(self, ox, oy, oa):
"""
Given a location on the map and a direction, predict the visible
laser range.
:Args:
| ox (double): X location of observation
| oy (double): Y location of observation
| oa (double): Bearing (from North, in degrees) of the reading
:Returns:
| (double) Range (in m) expected to be observed by the laser
"""
r = laser_trace.map_calc_range(ox, oy, oa, self.map_width,
self.map_height, self.map_origin_x,
self.map_origin_y, self.map_resolution,
self.scan_range_max, self.map_data)
if r <= self.scan_range_max:
return r
else:
# rospy.logwarn("calc_map_range giving oversized ranges!!")
return self.scan_range_max
def calc_map_range(self, ox, oy, oa):
"""
Given a location on the map and a direction, predict the visible
laser range.
:Args:
| ox (double): X location of observation
| oy (double): Y location of observation
| oa (double): Bearing (from North, in degrees) of the reading
:Returns:
| (double) Range (in m) expected to be observed by the laser
"""
r = laser_trace.map_calc_range(ox, oy, oa, self.map_width,
self.map_height,
self.map_origin_x,
self.map_origin_y,
self.map_resolution,
self.scan_range_max,
self.map_data)
if r <= self.scan_range_max:
return r
else:
# rospy.logwarn("calc_map_range giving oversized ranges!!")
return self.scan_range_max