def setup(self, unused_timeout = 15):
blackboard = Blackboard()
blackboard.protocol_flag = dict()
blackboard.feedback = dict()
for i in blackboard.PV:
blackboard.protocol_flag[i] = (False,0.)
for i in blackboard.Inters:
blackboard.feedback[i] = 0.
return True
def update(self):
blackboard = Blackboard()
blackboard.protocol_flag = dict()
blackboard.feedback = dict()
for i in blackboard.PV:
blackboard.protocol_flag[i] = (False,0.)
for i in blackboard.Inters:
blackboard.feedback[i] = 0.
num = sum(blackboard.pos[:3])
for idx,item in enumerate(blackboard.candi):
if idx < 3:
blackboard.protocol_flag[item] = (True,blackboard.pos[idx]/num)
return py_trees.Status.SUCCESS
