def move(self):
if (self._movements % self.getMovementsBetweenAttack() == 0):
nearest_tower = self.getNearestTower()
if nearest_tower is not None:
if not DistanceCalculator.targetOutOfRange(
self, nearest_tower, self._attack_range):
self._attack.attack(nearest_tower, self)
if self.getHealth() <= 0:
#TODO: Remove this invader from the board
if self._alive:
self._bank.getInvaderRansom()
self._alive = False
self.notifyObservers()
return
if (self._x, self._y) == self._dest_cell.get_center():
# move on to the next cell
# TODO: HANDLE END OF PATH!
self._compute_new_dir()
self._x += self._xdir
self._y += self._ydir
self._movements += 1
self.notifyObservers()
def __init__(self):
self.bridge = cv_bridge.CvBridge()
self.logger = logging.getLogger('cv_test')
logging.basicConfig(level=logging.INFO)
self.dist_calc = DistanceCalculator('parking')
self.show_matcher_points = True
self.timer = ElapsedTime()
self.show_matched_points = True
self.sift = cv2.xfeatures2d.SIFT_create()
self.img1 = cv2.imread('parking_marker.png', cv2.IMREAD_COLOR)
if self.img1 is None:
print 'img1 is deleted'
self.kp1, self.des1 = self.sift.detectAndCompute(self.img1, None)
self.image_sub = rospy.Subscriber(
'/center_camera/image_raw/compressed', CompressedImage,
self.find_callback)
self.key_pub = rospy.Publisher('t3burger/control/parking',
Bool,
queue_size=1)
rospy.init_node("test_driver")
self.rate = rospy.Rate(100)
def sendAttack(self):
if (DistanceCalculator.targetOutOfRange(self, self._target, self._attack_range)):
self._target = None
return
if (self._notification_count % self._attack.getMovementsBetweenFire()) == 0:
self._attack.attack(self._target, self)
self._notification_count += 1
def __init__(self):
self.count = 0
self.cnt = 0
self.bridge = cv_bridge.CvBridge()
self.dist_calc = DistanceCalculator('parking')
self.tunnel_state = False
self.surf = cv2.xfeatures2d.SURF_create(1500) # 물체 인식하려면 300~500이 적당
self.blocking_img = cv2.imread('tunnel.png', cv2.IMREAD_GRAYSCALE)
self.image_sub = rospy.Subscriber('/python_image1/compressed', CompressedImage, self.image_callback)
self.tunnel_pub = rospy.Publisher('/tb3/control/tunnel',Bool,queue_size = 1)
self.kp1, self.des1 = self.surf.detectAndCompute(self.blocking_img, None)
def getNearestTower(self):
known_towers = self._observers
smallest_distance = math.inf
return_tower = None
for t in known_towers:
current_distance = DistanceCalculator.calculateDistance(
self.getXCoord(), self.getYCoord(), t.getXCoord(),
t.getYCoord())
if current_distance < smallest_distance:
smallest_distance = current_distance
return_tower = t
return return_tower
def __init__(self):
self.bridge = cv_bridge.CvBridge()
self.dist_calc = DistanceCalculator('parking')
self.cnt = 0
self.parking_state = False
self.white_state = False
# 물체 인식하려면 300~500이 적당
self.surf = cv2.xfeatures2d.SURF_create(1000)
self.blocking_img = cv2.imread('parking_marker.png', cv2.IMREAD_COLOR)
self.image_sub = rospy.Subscriber('/python_image1/compressed',
CompressedImage, self.image_callback)
self.white_sub = rospy.Subscriber('tb3/control/parking_white', Bool,
self.white_callback)
self.parking_pub = rospy.Publisher('tb3/control/parking', Bool)