def set_mask_param_blue_low_H(self, request):
"""Sets the mask_param_blue_low_H of leadergetter"""
self._params["mask_param_blue_low_H"] = request.value
set_param("~mask_param_blue_low_H", request.value)
self.update_leader_detector()
return 1
def setup_params(self, config_file_path):
"""Reads configs from configuration file.
Args:
config_file_path (str): Path of the configuration file.
"""
with open(config_file_path, "r") as file_handle:
data = yaml.safe_load(file_handle)
self._params = data
for param_name in self._params:
set_param("~" + param_name, self._params[param_name])
def set_velocity_desired(self, request):
"""Sets the velocity_desired parameter of the controller"""
self._params["velocity_desired"] = float(request.value)
set_param("~velocity_desired", request.value)
return 1
def set_distance_desired(self, request):
"""Sets the distance_desired parameter of the controller"""
self._params["distance_desired"] = request.value
set_param("~distance_desired", request.value)
return 1
def set_k_dsteer(self, request):
"""Sets the k_dsteer_gain parameter of the controller."""
self._params["k_dsteer"] = request.value
set_param("~k_dsteer", request.value)
self.update_controller()
return 1
def set_p_gain(self, request):
"""Sets the p_gain parameter of the controller."""
self._params["p_gain"] = request.value
set_param("~p_gain", request.value)
self.update_controller()
return 1
def setup_params(self, config_file_path):
with open(config_file_path, "r") as file_handle:
data = yaml.safe_load(file_handle)
self._params = data
for param_name in self._params:
set_param("~" + param_name, self._params[param_name])
def set_mask_param_green_high_V(self, request):
"""Sets the mask_param_green_low_Vof leadergetter"""
self._params["mask_param_green_high_V"] = request.value
set_param("~mask_param_green_high_V", request.value)
self.update_leader_detector()
return 1
