def __init__(self, occupancyGrid, planner, controller):
PlannerControllerBase.__init__(self, occupancyGrid, planner,
controller)
self.mapUpdateSubscriber = rospy.Subscriber('updated_map', MapUpdate,
self.mapUpdateCallback)
self.gridUpdateLock = threading.Condition()
def __init__(self, occupancyGrid, planner, controller):
PlannerControllerBase.__init__(self, occupancyGrid, planner,
controller)
self.mapUpdateSubscriber = rospy.Subscriber('updated_map', MapUpdate,
self.mapUpdateCallback)
self.gridUpdateLock = threading.Condition()
self.aisleToDriveDown = None
# Set the coordinates of aisles
self.aisleCoords = {
Aisle.A: (26, 32),
Aisle.B: (43, 32),
Aisle.C: (59, 32),
Aisle.D: (75, 32),
Aisle.E: (91, 32)
}
# Store the starting position
self.start = (0, 0)
# Store the current cost of robot
self.currentCost = 0
# wait time
self.waitTime = 0
# has waited?
self.waited = False
def __init__(self, occupancyGrid, planner, controller):
PlannerControllerBase.__init__(self, occupancyGrid, planner, controller)
self.mapUpdateSubscriber = rospy.Subscriber('updated_map', MapUpdate, self.mapUpdateCallback)
self.gridUpdateLock = threading.Condition()
self.aisleToDriveDown = None
self.exportDirectory = None
self.initialPlanFlag = True
def __init__(self, occupancyGrid, planner, controller):
PlannerControllerBase.__init__(self, occupancyGrid, planner,
controller)
self.mapUpdateSubscriber = rospy.Subscriber('updated_map', MapUpdate,
self.mapUpdateCallback)
self.gridUpdateLock = threading.Condition()
self.aisleToDriveDown = None
self.lambda_B = 1 / 90
#for Part 2 Q1 and Q2, use:
#self.obstacle_B_prob = 1
#for Part 2 Q3, use:
self.obstacle_B_prob = 0.8
self.expectedWaitTime = self.obstacle_B_prob / self.lambda_B
#L_W
self.waitCost = 2