draw_rangefinder(ctx, sensor, sensor_pose, sensor_data)
if sensor.sensor_type_string() == 'optics':
draw_optics(ctx, sensor, sensor_pose, sensor_data)
ctx.restore()
# surface.write_to_png('world.png')
surface.show_page()
if __name__ == '__main__':
radius = 10
world = create_random_world(radius)
rt = TexturedRaytracer()
rt.set_map(world)
pose = get_safe_pose(rt, world_radius=radius, safe_zone=safe_zone)
vehicle = Vehicle()
sensor = Rangefinder()
sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 45),
spatial_sigma=deg2rad(1), sigma=0)
vehicle.add_sensor(sensor)
sensor = Optics()
sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 180),
spatial_sigma=deg2rad(1), sigma=0)
vehicle.add_sensor(sensor)
vehicle.set_map(world)
data = vehicle.compute_observations(pose)
simple_drawing(world, vehicle, pose, data)
