forked from jpiramirez/roboticamovil
/
obstaclecalib.py
executable file
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/
obstaclecalib.py
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import numpy as np
import time
import math as m
import sys
import vrep # access all the VREP elements
from q2R import q2R
vrep.simxFinish(-1) # just in case, close all opened connections
clientID=vrep.simxStart('127.0.0.1',19999,True,True,5000,5) # start a connection
if clientID!=-1:
print ('Connected to remote API server')
else:
print('Not connected to remote API server')
sys.exit("No connection")
# Getting handles for the motors
err, motorL = vrep.simxGetObjectHandle(clientID, 'Pioneer_p3dx_leftMotor', vrep.simx_opmode_blocking)
err, motorR = vrep.simxGetObjectHandle(clientID, 'Pioneer_p3dx_rightMotor', vrep.simx_opmode_blocking)
err, robot = vrep.simxGetObjectHandle(clientID, 'Pioneer_p3dx', vrep.simx_opmode_blocking)
# Assigning handles to the ultrasonic sensors
usensor = []
for i in range(1,17):
err, s = vrep.simxGetObjectHandle(clientID, 'Pioneer_p3dx_ultrasonicSensor'+str(i), vrep.simx_opmode_blocking)
usensor.append(s)
# Sensor initialization
for i in range(16):
err, state, point, detectedObj, detectedSurfNormVec = vrep.simxReadProximitySensor(clientID, usensor[i], vrep.simx_opmode_streaming)
err, psr = vrep.simxGetObjectPosition(clientID, usensor[2], robot, vrep.simx_opmode_streaming)
err, psr = vrep.simxGetObjectPosition(clientID, usensor[2], robot, vrep.simx_opmode_buffer)
err, osr = vrep.simxGetObjectOrientation(clientID, usensor[2], robot, vrep.simx_opmode_streaming)
err, osr = vrep.simxGetObjectOrientation(clientID, usensor[2], robot, vrep.simx_opmode_buffer)
print(psr)
print(osr)
Rsr = q2R(osr[0], osr[1], osr[2], osr[3])
tsr = np.array(psr).resize((3,1))
t = time.time()
while (time.time()-t) < 5:
smeasure = []
sstate = []
for i in range(16):
err, state, point, detectedObj, detectedSurfNormVec = vrep.simxReadProximitySensor(clientID, usensor[i], vrep.simx_opmode_buffer)
smeasure.append(np.linalg.norm(point))
sstate.append(state)
print(smeasure[2], sstate[2])
point_s = np.matrix([[0, 0, smeasure[2]]]).T
time.sleep(0.1)
while (time.time()-t) < 5:
time.sleep(0.1)
vrep.simxStopSimulation(clientID, vrep.simx_opmode_oneshot)