def should_leave_wall(self): #fn to leave the wall
(x, y, _
) = current_location.current_location() #copying the current location
if None in self.encountered_wall_at: #checking if the robot has encountered the wall previously
self.encountered_wall_at = (
x, y) #saving the current encountred wall location
self.lh = necessary_heading(
x, y, self.tx1,
self.ty1) #calculating the angle towards destination
return False
t_angle = necessary_heading(
x, y, self.tx1,
self.ty1) #calculating the angle towards the destination
(
ox, oy
) = self.encountered_wall_at #copying the ecountered wall location data
od = math.sqrt(
(ox - self.tx1)**2 + (oy - self.ty1)**
2) #calculating distance b/w the goal and wall encounter position
cd = math.sqrt(
(x - self.tx1)**2 + (y - self.ty1)**
2) #calculating distance b/w the goal and current position
dt = 0.01 #angle tolerance in the direction towards goal
if self.lh - dt <= t_angle <= self.lh + dt and not near(
x, y, ox, oy): #condition to leave the wall
if cd < od:
print "Leaving wall"
return True
return False
def should_leave_wall(self):
(x, y, _) = current_location.current_location()
if None in self.encountered_wall_at:
self.encountered_wall_at = (x, y)
self.lh = necessary_heading(x, y, self.tx, self.ty)
'''get degree once'''
return False
t_angle = necessary_heading(x, y, self.tx, self.ty)
'''get degree while the robot is following the wall '''
(ox, oy) = self.encountered_wall_at
od = math.sqrt((ox - self.tx)**2 + (oy - self.ty)**2)
'''origin to goal distance'''
cd = math.sqrt((x - self.tx)**2 + (y - self.ty)**2)
'''current to goal distance'''
dt = 0.01
if self.lh - dt <= t_angle <= self.lh + dt and not near(x, y, ox, oy):
'''Makes robot placed on origin to goal planned (Bug2 algorithm)'''
if cd < od:
print "Leaving wall"
self.encountered_wall_at = (None, None)
'''Init for another obstacle'''
return True
return False
def should_leave_wall(self):
(x, y, t) = current_location.current_location()
dir_to_go = current_location.global_to_local(
necessary_heading(x, y, *self.goal))
at = current_dists.at(dir_to_go)
(_, left) = current_dists.get()
return at > 10
def should_leave_wall(self):
(x, y, t) = current_location.current_location()
g = current_location.global_to_local(
necessary_heading(x, y, *self.goal))
at = current_dists.at(g)
(_, left) = current_dists.get()
return at > 10 # and left > WALL_PADDING
def should_leave_wall(self):
print('Im in should_leave_wall of bug0')
(x, y, t) = current_location.current_location()
dir_to_go = current_location.global_to_local(
necessary_heading(x, y, tx, ty))
'''Direction to goal'''
print('current_angle:', current_location.current_location()[2])
print('desired_angle_without_global_to_local:',
necessary_heading(x, y, tx, ty))
print('desired_angle:', dir_to_go)
at = current_dists.at(dir_to_go)
if at > 10:
print('flag', self.flag)
print("Leaving wall in at")
return True
return False
def should_leave_wall(self):
(x, y, _) = current_location.current_location()
if None in self.encountered_wall_at:
self.encountered_wall_at = (x, y)
self.lh = necessary_heading(x, y, self.tx3, self.ty3)
return False
t_angle = necessary_heading(x, y, self.tx3, self.ty3)
(ox, oy) = self.encountered_wall_at
od = math.sqrt((ox - self.tx3)**2 + (oy - self.ty3)**2)
cd = math.sqrt((x - self.tx3)**2 + (y - self.ty3)**2)
dt = 0.01
if self.lh - dt <= t_angle <= self.lh + dt and not near(x, y, ox, oy):
if cd < od:
print "Leaving wall"
return True
return False
def should_leave_wall(self):
(x, y, t) = current_location.current_location()
dir_to_go = current_location.global_to_local(
necessary_heading(x, y, tx, ty))
at = current_dists.at(dir_to_go)
if at > 10:
print "Leaving wall"
return True
return False
def should_leave_wall(
self): #Follows the goal when a leave point is encountered
(x, y, _) = current_location.current_location()
if None in self.encountered_wall_at:
self.encountered_wall_at = (
x, y
) #store current location parameter when robot meets obstacle
self.lh = necessary_heading(x, y, self.tx, self.ty)
return False
t_angle = necessary_heading(x, y, self.tx, self.ty)
(ox, oy) = self.encountered_wall_at
od = math.sqrt((ox - self.tx)**2 + (oy - self.ty)**2)
cd = math.sqrt((x - self.tx)**2 + (y - self.ty)**2)
dt = 0.01
if self.lh - dt <= t_angle <= self.lh + dt and not near(x, y, ox, oy):
if cd < od:
print "Leaving wall"
return True
return False
def should_leave_wall(self):
(x, y, t) = current_location.current_location()
dir_to_go = current_location.global_to_local(necessary_heading(x, y,*self.goal))
at = current_dists.at(dir_to_go)
(_, left) = current_dists.get()
return at > 10