def new_world(loc_list): #generates a new world
p = person() #generates a person, names it referee and ask the translator about its localtion
p.id = str(obj2idx('referee', 'PERSONS'))
p.locId = str(obj2idx('referee', 'LOCATIONS')) # 2'
p.near = NO
p.obj1Id = '-1'
p.recognized = NO
p.memorized = NO
p.askedName = NO
p.followed = NO
p.found = NO
# check! if person = referee, location = robot location
i = item() #initializes items in the new world
i.id = '-1'
i.locId = '-1' #str(obj2idx('sams_table', 'LOCATIONS')) # '-1'
i.found = NO
i.toBeGrasped = NO
i.grasped = NO
i.delivered = NO
i.pointed = NO
r = robot() # puts the robot himself in its world map
r.id = '1'
r.locId = str(obj2idx('referee', 'LOCATIONS'))
r.obj1Id = '-1'
r.introduced = NO
r.pointedAtLoc = '-1'
print r.locId
l = []
for loc in loc_list: #adds the locations list to this world
nl = location()
nl.id = loc
nl.pointed_at = NO
l.append(nl)
w = world() #generates a world and fill it with the objects we already created before.
w.item = i
w.person = p
w.robot = r
w.location = l
return w #return this world
def __init__(self, name):
self._action_name = name
self._as = actionlib.SimpleActionServer(name, gpsrSoar.msg.gpsrActionAction, execute_cb=self.execute_cb)
self._as.start()
self._hasgoal = False
self._goalDonei = 0
self._goal = []
self._world = world()
if TEST:
errorfilepath = roslib.packages.get_pkg_dir("gpsr") + "/config/"
error = errorfilepath + "error.txt"
self.targfile = open(error, 'w')
def new_world(loc_list): #generates a new world
p = person(
) #generates a person, names it referee and ask the translator about its localtion
p.id = str(obj2idx('referee', 'PERSONS'))
p.locId = str(obj2idx('referee', 'LOCATIONS')) # 2'
p.near = NO
p.obj1Id = '-1'
p.recognized = NO
p.memorized = NO
p.askedName = NO
p.followed = NO
p.found = NO
# check! if person = referee, location = robot location
i = item() #initializes items in the new world
i.id = '-1'
i.locId = '-1' #str(obj2idx('sams_table', 'LOCATIONS')) # '-1'
i.found = NO
i.toBeGrasped = NO
i.grasped = NO
i.delivered = NO
i.pointed = NO
r = robot() # puts the robot himself in its world map
r.id = '1'
r.locId = str(obj2idx('referee', 'LOCATIONS'))
r.obj1Id = '-1'
r.introduced = NO
r.pointedAtLoc = '-1'
print r.locId
l = []
for loc in loc_list: #adds the locations list to this world
nl = location()
nl.id = loc
nl.pointed_at = NO
l.append(nl)
w = world(
) #generates a world and fill it with the objects we already created before.
w.item = i
w.person = p
w.robot = r
w.location = l
return w #return this world
def __init__(self, name):
self._action_name = name
self._as = actionlib.SimpleActionServer(name,
gpsrSoar.msg.gpsrActionAction,
execute_cb=self.execute_cb)
self._as.start()
self._hasgoal = False
self._goalDonei = 0
self._goal = []
self._world = world()
if TEST:
errorfilepath = roslib.packages.get_pkg_dir("gpsr") + "/config/"
error = errorfilepath + "error.txt"
self.targfile = open(error, 'w')
