def __init__(self,
name,
xpos,
ypos,
color,
perimeter=[[0.0, 0.0], [1.0, 0.0], [1.0, 1.0], [0.0, 1.0],
[0.0, 0.0]],
radius=0.013):
self.name = name
self.xpos = xpos
self.ypos = ypos
self.xvel = 0.0
self.yvel = 0.0
self.color = color
self.radius = radius
# Perimeters must be specified clockwise (looking down).
self.perimeter = [(p, (q[0] - p[0], q[1] - p[1])) \
for p,q in zip(perimeter[0:-1],perimeter[1:]) ]
print self.perimeter
CreateModel.__init__(self,
self.xpos,
self.ypos,
3.0,
name=self.name,
color=self.color,
trails=False,
nose=True,
debug=False,
radius=self.radius)
self.sub = rospy.Subscriber(self.name + "/cmd_vel", Twist, self.twist)
def __init__(self,
name,
xpos,
ypos,
color,
perimeter=[[0.0, 0.0], [1.0, 0.0], [1.0, 1.0], [0.0, 1.0],
[0.0, 0.0]],
radius=0.013):
self.xvel = 0.0
self.yvel = 0.0
# Perimeters must be specified clockwise (looking down).
self.perimeter = [(p, (q[0] - p[0], q[1] - p[1])) \
for p,q in zip(perimeter[0:-1],perimeter[1:]) ]
# This records the number of communication hops between here and
# the base station or primary robot.
self.hops = 0
CreateModel.__init__(self,
xpos,
ypos,
3.0,
name=name,
color=color,
trails=False,
nose=True,
debug=False,
radius=radius)
self.sub = rospy.Subscriber(self.name + "/cmd_vel", Twist, self.twist)
def __init__(self, name, xpos, xvel, color):
self.name = name
self.xpos = xpos
self.xvel = xvel
self.color = color
CreateModel.__init__(self, self.xpos, 0.0, 0.0, name=self.name,
color=self.color, trails=False,
nose=False, debug=False)
topic = (self.name + "/") if self.name else ""
topic += "cmd_vel"
self.sub = rospy.Subscriber(topic, Twist, self.setVel)
def __init__(self, name, xpos, ypos, color,
perimeter = [[0.0,0.0],[1.0,0.0],[1.0,1.0],[0.0,1.0],[0.0,0.0]],
radius = 0.013):
self.xvel = 0.0
self.yvel = 0.0
# Perimeters must be specified clockwise (looking down).
self.perimeter = [(p, (q[0] - p[0], q[1] - p[1])) \
for p,q in zip(perimeter[0:-1],perimeter[1:]) ]
# This records the number of communication hops between here and
# the base station or primary robot.
self.hops = 0
CreateModel.__init__(self, xpos, ypos, 3.0, name=name,
color=color, trails=False,
nose=True, debug=False, radius = radius)
self.sub = rospy.Subscriber(self.name + "/cmd_vel", Twist, self.twist)
def __init__(self, name, xpos, xvel, color):
self.name = name
self.xpos = xpos
self.xvel = xvel
self.color = color
CreateModel.__init__(self,
self.xpos,
0.0,
0.0,
name=self.name,
color=self.color,
trails=False,
nose=False,
debug=False)
topic = (self.name + "/") if self.name else ""
topic += "cmd_vel"
self.sub = rospy.Subscriber(topic, Twist, self.setVel)
def __init__(self, name, xpos, ypos, color,
perimeter = [[0.0,0.0],[1.0,0.0],[1.0,1.0],[0.0,1.0],[0.0,0.0]],
radius = 0.013):
self.name = name
self.xpos = xpos
self.ypos = ypos
self.xvel = 0.0
self.yvel = 0.0
self.color = color
self.radius = radius
# Perimeters must be specified clockwise (looking down).
self.perimeter = [(p, (q[0] - p[0], q[1] - p[1])) \
for p,q in zip(perimeter[0:-1],perimeter[1:]) ]
print self.perimeter
CreateModel.__init__(self, self.xpos, self.ypos, 3.0, name=self.name,
color=self.color, trails=False,
nose=True, debug=False, radius = self.radius)
self.sub = rospy.Subscriber(self.name + "/cmd_vel", Twist, self.twist)
