class HallwayRouter(Router):
def __init__(self, mapconfig, ROBOT_SIZE_METERS, min_distance):
self.mapconfig = mapconfig
self.SCAN_DIST_PIXELS = 3500
self.fe = HallwayExplorer(mapconfig, 2) #TODO
def getRoute(self, position, mapbytes):
'''
Return a queue of targetpoints (x_mm, y_mm)
'''
x_pixels = self.mapconfig.mmToPixels(position[0])
y_pixels = self.mapconfig.mmToPixels(position[1])
return deque([self.getNext(x_pixels, y_pixels, mapbytes)])
def getNext(self, x_pixels, y_pixels, mapbytes):
"""
This gets the next frontier to explore.
:param x_pixels: x pixle of the robot
:param y_pixels: y pixle of the robot
:param mapbytes: 2d representation of the map
:return: (x,y) touple of the goal
"""
'''
Return a targetpoint (x_pixels, y_pixels)
'''
frontiers = self.fe.findFrontiers((x_pixels, y_pixels), mapbytes,
self.mapconfig.SIZE_PIXELS)
if (frontiers.empty()):
raise NotImplementedError(
"Hallway Explorer has run out of frontiers to explore")
else:
return frontiers.get()[1]
class HallwayRouter(Router):
def __init__(self, mapconfig, ROBOT_SIZE_METERS, min_distance):
self.mapconfig = mapconfig
self.SCAN_DIST_PIXELS = 3500
self.fe = HallwayExplorer(mapconfig,2) #TODO
def getRoute(self, position, mapbytes):
'''
Return a queue of targetpoints (x_mm, y_mm)
'''
x_pixels = self.mapconfig.mmToPixels(position[0])
y_pixels = self.mapconfig.mmToPixels(position[1])
return deque([self.getNext(x_pixels, y_pixels, mapbytes)])
def getNext(self, x_pixels, y_pixels, mapbytes):
"""
This gets the next frontier to explore.
:param x_pixels: x pixle of the robot
:param y_pixels: y pixle of the robot
:param mapbytes: 2d representation of the map
:return: (x,y) touple of the goal
"""
'''
Return a targetpoint (x_pixels, y_pixels)
'''
frontiers = self.fe.findFrontiers((x_pixels, y_pixels), mapbytes, self.mapconfig.SIZE_PIXELS)
if(frontiers.empty()):
raise NotImplementedError("Hallway Explorer has run out of frontiers to explore")
else:
return frontiers.get()[1]
def __init__(self, mapconfig, ROBOT_SIZE_METERS, min_distance):
self.mapconfig = mapconfig
self.SCAN_DIST_PIXELS = 3500
self.fe = HallwayExplorer(mapconfig,2) #TODO
def __init__(self, mapconfig, ROBOT_SIZE_METERS, min_distance):
self.mapconfig = mapconfig
self.SCAN_DIST_PIXELS = 3500
self.fe = HallwayExplorer(mapconfig, 2) #TODO
