class MyPoseGen:
def set_map(self, world):
self.raytracer = TexturedRaytracer()
self.raytracer.set_map(world)
def generate_pose(self):
pose = get_safe_pose(
raytracer=self.raytracer,
world_radius=9,
safe_zone=1, num_tries=100)
#print "Found pose %s" % pose
return pose
def __eq__(self, other):
''' Without parameters, they will always compare true '''
return isinstance(other, MyPoseGen)
def set_map(self, world):
self.raytracer = TexturedRaytracer()
self.raytracer.set_map(world)
sensor_data = data.all_sensors[i]
if sensor.sensor_type_string() == 'rangefinder':
draw_rangefinder(ctx, sensor, sensor_pose, sensor_data)
if sensor.sensor_type_string() == 'optics':
draw_optics(ctx, sensor, sensor_pose, sensor_data)
ctx.restore()
# surface.write_to_png('world.png')
surface.show_page()
if __name__ == '__main__':
radius = 10
world = create_random_world(radius)
rt = TexturedRaytracer()
rt.set_map(world)
pose = get_safe_pose(rt, world_radius=radius, safe_zone=safe_zone)
vehicle = Vehicle()
sensor = Rangefinder()
sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 45),
spatial_sigma=deg2rad(1), sigma=0)
vehicle.add_sensor(sensor)
sensor = Optics()
sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 180),
spatial_sigma=deg2rad(1), sigma=0)
vehicle.add_sensor(sensor)