def __init__(self,
name,
soma_map,
soma_config,
minute_interval,
window_interval,
collection="occurrence_rates"):
self.topo_map = None
self.soma_map = soma_map
self.soma_config = soma_config
self.minute_interval = minute_interval
self.window_interval = window_interval
self.rotm = RegionObservationTimeManager(soma_map, soma_config)
self.tre = TrajectoryRegionEstimate(soma_map, soma_config,
minute_interval)
self.tof = TrajectoryOccurrenceFrequencies(
soma_map,
soma_config,
minute_interval=minute_interval,
window_interval=window_interval)
self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
rospy.loginfo("Connect to database collection %s..." % collection)
self._ms = MessageStoreProxy(collection=collection)
self._soma_db = MessageStoreProxy(collection="soma_roi")
rospy.loginfo("Create a service %s/service..." % name)
self.service = rospy.Service(name + '/service',
TrajectoryOccurrenceRate, self.srv_cb)
rospy.loginfo("Create an action server %s..." % name)
self._as = actionlib.SimpleActionServer(name,
OccurrenceRateLearningAction,
execute_cb=self.execute,
auto_start=False)
self._as.start()
rospy.logerr(
"usage: tof soma config start_date end_date month year minute_interval window_time"
)
sys.exit(2)
# the interval minute must be the same for Trajectory Region Knowledge and
# Continuous TOF
interval = int(sys.argv[7])
window = int(sys.argv[8])
start_date = int(sys.argv[3])
end_date = int(sys.argv[4])
month = int(sys.argv[5])
year = int(sys.argv[6])
temp_start_time = rospy.Time.now()
tre = TrajectoryRegionEstimate(sys.argv[1], sys.argv[2], interval)
if start_date > 1:
trajectory_estimate = tre.estimate_trajectories_daily(
# range(1, calendar.monthrange(year, month)[1]+1), month, year
range(start_date - 1, end_date + 1),
month,
year)
else:
trajectory_estimate = tre.estimate_trajectories_daily(
# range(1, calendar.monthrange(year, month)[1]+1), month, year
range(start_date, end_date + 1),
month,
year)
tof = TrajectoryOccurrenceFrequencies(sys.argv[1],
sys.argv[2],
