def gen_msg(self):
msg = visiondata()
for name, piece in self.pieces.items():
setattr(msg, '{}_x'.format(name), piece.position[0])
setattr(msg, '{}_y'.format(name), piece.position[1])
setattr(msg, '{}_w'.format(name), piece.position[2])
# msg.tm0_x = self.tm0.position[0]
# msg.tm0_y = self.tm0.position[1]
# msg.tm0_w = self.tm0.position[2]
# msg.tm1_x = self.tm1.position[0]
# msg.tm1_y = self.tm1.position[1]
# msg.tm1_w = self.tm1.position[2]
# msg.op0_x = self.op0.position[0]
# msg.op0_y = self.op0.position[1]
# msg.op0_w = self.op0.position[2]
# msg.op1_x = self.op1.position[0]
# msg.op1_y = self.op1.position[1]
# msg.op1_w = self.op1.position[2]
# msg.ball_x = self.ball.position[0]
# msg.ball_y = self.ball.position[1]
return msg
def gen_msg(self):
msg = visiondata()
for name, piece in self.pieces.items():
setattr(msg, "{}_x".format(name), piece.position[0])
setattr(msg, "{}_y".format(name), piece.position[1])
setattr(msg, "{}_w".format(name), piece.position[2])
# msg.tm0_x = self.tm0.position[0]
# msg.tm0_y = self.tm0.position[1]
# msg.tm0_w = self.tm0.position[2]
# msg.tm1_x = self.tm1.position[0]
# msg.tm1_y = self.tm1.position[1]
# msg.tm1_w = self.tm1.position[2]
# msg.op0_x = self.op0.position[0]
# msg.op0_y = self.op0.position[1]
# msg.op0_w = self.op0.position[2]
# msg.op1_x = self.op1.position[0]
# msg.op1_y = self.op1.position[1]
# msg.op1_w = self.op1.position[2]
# msg.ball_x = self.ball.position[0]
# msg.ball_y = self.ball.position[1]
return msg
#!/usr/bin/env python
# Node where filtering occurs. Recieves data on rostopic inputfilter
# and sends data via output filter topic.
# Author Glade Snyder
import rospy
from std_msgs.msg import String
from robot_soccer.msg import visiondata
import globals
import sample_lpf as lpf
from numpy.matlib import matrix
import copy
filteredData = visiondata()
lastVisionData = visiondata()
newDataFlag = False
gamePieces = lpf.GamePieces()
predictPieces = lpf.GamePieces()
def filter():
global gamePieces
global filteredData
global lastVisionData
global newDataFlag
# print lastVisionData
if newDataFlag:
gamePieces.update_all(lastVisionData)
newDataFlag = False
gamePieces.filter_all()
predictPieces = copy.copy(gamePieces)
predictPieces.predict_all()
#!/usr/bin/env python
# Node where filtering occurs. Recieves data on rostopic inputfilter
# and sends data via output filter topic.
# Author Glade Snyder
import rospy
from std_msgs.msg import String
from robot_soccer.msg import visiondata
import globals
import sample_lpf as lpf
from numpy.matlib import matrix
import copy
filteredData = visiondata()
lastVisionData = visiondata()
newDataFlag = False
gamePieces = lpf.GamePieces()
predictPieces = lpf.GamePieces()
def filter():
global gamePieces
global filteredData
global lastVisionData
global newDataFlag
# print lastVisionData
if newDataFlag:
gamePieces.update_all(lastVisionData)
newDataFlag = False
gamePieces.filter_all()
predictPieces = copy.copy(gamePieces)
predictPieces.predict_all()