def __init__(self, laser, map_size_pixels, map_size_meters,
map_quality=_DEFAULT_MAP_QUALITY, hole_width_mm=_DEFAULT_HOLE_WIDTH_MM,
random_seed=None, sigma_xy_mm=_DEFAULT_SIGMA_XY_MM, sigma_theta_degrees=_DEFAULT_SIGMA_THETA_DEGREES,
max_search_iter=_DEFAULT_MAX_SEARCH_ITER):
self.myfilter = FilterHandler(standardGH(g, h, 20000, 0), standardGH(g, h, 20000, 0), standardGH(g, h))
RMHC_SLAM.__init__(self, laser, map_size_pixels, map_size_meters,
map_quality, hole_width_mm,
random_seed, sigma_xy_mm, sigma_theta_degrees,
max_search_iter)
def __init__(self, laser, MAP_SIZE_M=4.0, MAP_RES_PIX_PER_M=100, MAP_DEPTH=5, HOLE_WIDTH_MM = 200, RANDOM_SEED = 0xabcd, **unused):
MAP_SIZE_PIXELS = int(MAP_SIZE_M*MAP_RES_PIX_PER_M) # number of pixels across the entire map
RMHC_SLAM.__init__(self, \
laser, \
MAP_SIZE_PIXELS, \
MAP_SIZE_M, \
MAP_DEPTH, \
HOLE_WIDTH_MM, \
RANDOM_SEED)
self.scanSize = laser.SCAN_SIZE
self.breezyMap = bytearray(MAP_SIZE_PIXELS**2) # initialize map array for BreezySLAM's internal mapping
def __init__(self,
laser,
map_size_pixels,
map_size_meters,
map_quality=_DEFAULT_MAP_QUALITY,
hole_width_mm=_DEFAULT_HOLE_WIDTH_MM,
random_seed=None,
sigma_xy_mm=_DEFAULT_SIGMA_XY_MM,
sigma_theta_degrees=_DEFAULT_SIGMA_THETA_DEGREES,
max_search_iter=_DEFAULT_MAX_SEARCH_ITER):
self.myfilter = FilterHandler(standardGH(g, h, 20000, 0),
standardGH(g, h, 20000, 0),
standardGH(g, h))
RMHC_SLAM.__init__(self, laser, map_size_pixels, map_size_meters,
map_quality, hole_width_mm, random_seed,
sigma_xy_mm, sigma_theta_degrees, max_search_iter)
def __init__(self, robot, laser, logFile=None, MAP_SIZE_M=8.0, MAP_RES_PIX_PER_M=100, USE_ODOMETRY=True, MAP_QUALITY=5, **unused):
self.USE_ODOMETRY = USE_ODOMETRY
MAP_SIZE_PIXELS = int(MAP_SIZE_M*MAP_RES_PIX_PER_M) # number of pixels across the entire map
RMHC_SLAM.__init__(self, \
laser, \
MAP_SIZE_PIXELS, \
MAP_SIZE_M, \
MAP_QUALITY, \
HOLE_WIDTH_MM, \
RANDOM_SEED)
self.robot = robot
self.scanSize = laser.SCAN_SIZE
self.logFile = logFile
self.prevEncPos = () # robot encoder data
self.currEncPos = () # left wheel [ticks], right wheel [ticks], timestamp [ms]
self.breezyMap = bytearray(MAP_SIZE_PIXELS**2) # initialize map array for BreezySLAM's internal mapping
