t1 = t
def run_planner(self):
"""Start planner in a distinguish process
"""
self.process = Process(target=self.force_planner_solution)
self.process.start()
while not self.process.is_alive():
continue
def shutdown_planner(self):
"""Terminate process and clear other stuff
"""
self.process.terminate()
self.log.debug("Planner process was terminated")
if __name__ == '__main__':
planner = ForcePlanner()
planner.run_planner()
robot = Manager().Namespace()
robot.Xg = [1.0, 2.0, 3.0]
robot.dXg = [0, 0, 0]
robot.F_cur = 30
robot.Fd_ideal = 900
planner.set_cur_state(robot)
sleep(2)
print(planner.get_new_state())
planner.shutdown_planner()
print("Done")
