Esempio n. 1
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    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)
Esempio n. 2
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    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)
Esempio n. 3
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    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)
Esempio n. 4
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    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)
Esempio n. 5
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    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)
Esempio n. 6
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    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)