def __init__(self, points):
"""
:return:
"""
Notifier.__init__(self)
self.points = points
def __init__(self, connection=None):
Notifier.__init__(self)
# Data connection to robot.
self.connection = connection
self.x = 0 # In meters.
self.y = 0
self.heading = 1.57
# List of visited points.
self.trail = []
# Physical dimensions in meters.
self.width = 0.18
self.length = 0.23
# State string.
self.state = ""
# Size of the cells we are operating in.
self.cell_size = 0.15
def __init__(self, robot, grid_size, cell_size, file=None):
"""
:param robot:
:param grid_size:
:param cell_size:
:return:
"""
Notifier.__init__(self)
self.robot = robot # The robot traversing this map.
self.grid_size = grid_size # Size in meters down either side.
self.cell_size = cell_size # Cell size in meters.
self.grid = [] # Contains a list of columns, treated like a 2D array.
self.path = Path([]) # Calculated path to follow.
self.file = file
self.cells_square = 0
if self.file is not None:
self.open()
else:
self.cells_square = int(round(self.grid_size / self.cell_size, 0)) # Number of cells down either side of the grid.
self.goal = Goal(self.cells_square - 2 ,self.cells_square - 2) # Goal position.
self.populate_grid()