def test_analzyer_on_field_model():
"""
Create a model of the field, then ask the laser to compute
the range for sweep. Then move the robot and ask again.
"""
robot = Robot()
field = FieldModel()
tower_range = field.tower_range_from_origin()
rotation = FakeRotation(field, robot)
heading, sweep_range = Analyzer.range_at_heading(rotation.polar_data(), (-10,11))
# closest point should be dead ahead
assert heading == 0
assert sweep_range == tower_range
movement = 100
robot.move(movement)
rotation = FakeRotation(field, robot)
heading, sweep_range = Analyzer.range_at_heading(rotation.polar_data(), (-10,11))
# closest point should be dead ahead
assert heading == 0
assert sweep_range == (tower_range - movement)
def update_all_results (lidar_viewer, field_model, robot, factor):
"""generate synthetic lidar data based on model and analyze/plot"""
rotation = FakeRotation(field_model, robot)
# do simple sweep analysis and report
sweep_heading, sweep_range = Analyzer.range_at_heading(rotation.polar_data(), (-5, 6))
print("Closest point in (-5,6) sweep is ({:d},{:.2f})".format(sweep_heading, sweep_range))
# do some analysis and gather up the results so they can be plotted
# run a 4-point r-squared and collect those less than threshold value
cart_data = rotation.cartesian_data()
# try out the analyzer find_wall
(heading, distance, orientation) = find_wall_midpoint(cart_data)
print("Analyzer.find_wall() heading {:.1f}, range {:.1f}, orientation {:.1f})".format(heading, distance, orientation))
# plot the polar data for reference
lidar_viewer.plot_polar(rotation.polar_data())
# plot the rectangular data
lidar_viewer.plot_cartesian(cart_data)
# polar markers (heading in degrees)
find_wall_markers = [ (-heading, distance) ]
#
# display the average distance of data points
# might be used to dynamically choose the r2 thresholds
# or dynamically select the r-factor for analysis?
avg_dist = avg_distance(cart_data)
print("Average distance: {:.1f}\n".format(avg_dist))
# plot any calculated markers in their specified color
#lidar_viewer.plot_markers(r2_markers, 'g')
lidar_viewer.plot_polar_markers(find_wall_markers, 'r')
