def __init__(self, laser, map_size_pixels, map_size_meters, map_quality=_DEFAULT_MAP_QUALITY, hole_width_mm=_DEFAULT_HOLE_WIDTH_MM, random_seed=None, sigma_xy_mm=_DEFAULT_SIGMA_XY_MM, sigma_theta_degrees=_DEFAULT_SIGMA_THETA_DEGREES, max_search_iter=_DEFAULT_MAX_SEARCH_ITER): self.myfilter = FilterHandler(standardGH(g, h, 20000, 0), standardGH(g, h, 20000, 0), standardGH(g, h)) RMHC_SLAM.__init__(self, laser, map_size_pixels, map_size_meters, map_quality, hole_width_mm, random_seed, sigma_xy_mm, sigma_theta_degrees, max_search_iter)
def __init__(self, laser, MAP_SIZE_M=4.0, MAP_RES_PIX_PER_M=100, MAP_DEPTH=5, HOLE_WIDTH_MM = 200, RANDOM_SEED = 0xabcd, **unused): MAP_SIZE_PIXELS = int(MAP_SIZE_M*MAP_RES_PIX_PER_M) # number of pixels across the entire map RMHC_SLAM.__init__(self, \ laser, \ MAP_SIZE_PIXELS, \ MAP_SIZE_M, \ MAP_DEPTH, \ HOLE_WIDTH_MM, \ RANDOM_SEED) self.scanSize = laser.SCAN_SIZE self.breezyMap = bytearray(MAP_SIZE_PIXELS**2) # initialize map array for BreezySLAM's internal mapping
def __init__(self, robot, laser, logFile=None, MAP_SIZE_M=8.0, MAP_RES_PIX_PER_M=100, USE_ODOMETRY=True, MAP_QUALITY=5, **unused): self.USE_ODOMETRY = USE_ODOMETRY MAP_SIZE_PIXELS = int(MAP_SIZE_M*MAP_RES_PIX_PER_M) # number of pixels across the entire map RMHC_SLAM.__init__(self, \ laser, \ MAP_SIZE_PIXELS, \ MAP_SIZE_M, \ MAP_QUALITY, \ HOLE_WIDTH_MM, \ RANDOM_SEED) self.robot = robot self.scanSize = laser.SCAN_SIZE self.logFile = logFile self.prevEncPos = () # robot encoder data self.currEncPos = () # left wheel [ticks], right wheel [ticks], timestamp [ms] self.breezyMap = bytearray(MAP_SIZE_PIXELS**2) # initialize map array for BreezySLAM's internal mapping