def __init__(self, group=None, target=None, name=None, args=(), kwargs={}, daemon=None, sensorConversionThread=None): ''' Initializes the control planner @param Refer to the Python Thread class for documentation on all thread specific parameters @param sensorConversionThread - the sensor conversion thread ''' Thread.__init__(self, group=group, target=target, name=name, daemon=daemon) Publisher.__init__(self) self.args = args self.kwargs = kwargs self.sensorConversionThread = sensorConversionThread self.shutDown = False self.wallFollowPID = PID(Constants.WALL_FOLLOW_PID_P, Constants.WALL_FOLLOW_PID_I, Constants.WALL_FOLLOW_PID_D, Constants.WALL_FOLLOW_PID_WINDUP) self.wallFollowPID.setGoal(Constants.WALL_FOLLOW_PID_DIST_GOAL) self.vehicleLeftDistance = 0.0 self.vehicleRightDistance = 0.0 self.vehicleSteeringAngle = 0.0 self.steeringAngleGoal = 0.0 # TODO: Velocity goals? self.velocityGoal = 0.5 self.currentTime = time.time()
def __init__(self, group=None, target=None, name=None, args=(), kwargs={}, daemon=None, courseMap=None, sensorConversionThread=None): ''' Initializes the control planner @param Refer to the Python Thread class for documentation on all thread specific parameters @param courseMap - the course map @param sensorConversionThread - the sensor conversion thread ''' Thread.__init__(self, group=group, target=target, name=name, daemon=daemon) Publisher.__init__(self) self.args = args self.kwargs = kwargs self.courseMap = courseMap self.particleFilter = ParticleFilter(Constants.PARTICLE_NUMBER, Constants.MAP_START_BOX, Constants.MAP_HEADING_RANGE, self.courseMap, sensorConversionThread) self.shutDown = False self.estVehicleX = 0.0 self.estVehicleY = 0.0 self.estVehicleHeading = 0.0 self.covarVehicle = None self.waypoint = 0 self.waypointCheck = 0 self.steeringAngleGoal = 0.0 self.velocityGoal = 0.0
def __init__(self, name): Publisher.__init__(self) self.name = name self._data = 0
def __init__(self, **kwargs): Publisher.__init__(self, **kwargs) self._xslt = XsltTransformer(caller=self) if not self.script: self.script = self._xslt.script