def initialize( self ): # Get config self.velX = float( getParameters(self.config, 'VelocityParameter', 'VelocityXSlideCurve')) self.velY = float( getParameters(self.config, 'VelocityParameter', 'VelocityYSlideCurve')) self.omegaZ = float( getParameters(self.config, 'VelocityParameter', 'OmegaZSlideCurve' )) self.waitingTime = float( getParameters(self.config, "VelocityParameter", "WaitingTimeSlideCurve"))
def initialize(self):
# Get time out from config
self.scanBallPattern = getParameters(self.config, 'PanTiltPlanner',
'ScanBallPattern')
self.scanBallPattern_align2ball = getParameters(
self.config, 'PanTiltPlanner', 'ScanBallPatternAlign2Ball')
self.scanBallPattern_followball = getParameters(
self.config, 'PanTiltPlanner', 'ScanBallPatternFollowBall')
self.confidenceThr = float(
getParameters(self.config, 'ChangeStateParameter',
'BallConfidenceThreshold'))
def initialize(self):
# Get time and velocity x
self.velX = float(
getParameters(self.config, 'VelocityParameter',
'VelocityXWhenStepToKick'))
self.waitTime = float(
getParameters(self.config, 'VelocityParameter',
'WaitingTimeAfterStep'))
self.tiltAngle = float(
getParameters(self.config, 'PanTiltPlanner',
'TiltAngleForLookAtFoot'))
def initialize( self ): # Get omega_z from config self.omegaZ = float( getParameters(self.config, 'VelocityParameter', 'OmegaZWhenRotateToBall')) # Get theta to change state self.smallTheta = float( getParameters(self.config, 'ChangeStateParameter', 'SmallDegreeToAlignTheBall')) # Get tilt limit self.panLimit = float( getParameters(self.config, 'ChangeStateParameter', 'LimitPanAngleDegree')) self.confidenceThr = float( getParameters(self.config, 'ChangeStateParameter', 'BallConfidenceThreshold')) # Get fx and fy from robot config self.fx = float( self.config[ "CameraParameters" ][ "fx" ] )
def initialize(self):
## NOTE : Visittor : Create default for these parameters --> Take it as an args of __init__.
# Get velocity of x and y
self.velX_max = float(
getParameters(self.config, 'VelocityParameter',
'VelocityXWhenFollowTheBall_max'))
self.velX_min = float(
getParameters(self.config, 'VelocityParameter',
'VelocityXWhenFollowTheBall_min'))
self.velX_slope = float(
getParameters(self.config, 'VelocityParameter',
'VelocityXWhenFollowTheBall_m'))
self.velX_offset = float(
getParameters(self.config, 'VelocityParameter',
'VelocityXWhenFollowTheBall_c'))
self.omg_max = float(
getParameters(self.config, 'VelocityParameter',
'OmegaZWhenRotateToBall_max'))
self.omg_min = float(
getParameters(self.config, 'VelocityParameter',
'OmegaZWhenRotateToBall_min'))
self.omg_slope = float(
getParameters(self.config, 'VelocityParameter',
'OmegaZWhenRotateToBall_m'))
self.omg_offset = float(
getParameters(self.config, 'VelocityParameter',
'OmegaZWhenRotateToBall_c'))
self.velY = float(
getParameters(self.config, 'VelocityParameter',
'VelocityYWhenFollowTheBall'))
# Get theta to change state
self.smallTheta = float(
getParameters(self.config, 'ChangeStateParameter',
'SmallDegreeToAlignTheBall'))
# Get neares distance before kick
self.distanceToKick = float(
getParameters(self.config, 'ChangeStateParameter',
'NearestDistanceFootballWrtRobot'))
self.distanceToPlay = float(
getParameters(self.config, 'ChangeStateParameter',
'FarthestDistanceFootballWrtRobot'))
# Get limit angle
self.limitTiltAngle = float(
getParameters(self.config, 'ChangeStateParameter',
'LimitTiltAngleDegree'))
self.limitPanAngle = float(
getParameters(self.config, 'ChangeStateParameter',
'LimitPanAngleDegree'))
self.confidenceThr = float(
getParameters(self.config, 'ChangeStateParameter',
'BallConfidenceThreshold'))
# Get fx and fy from robot config
self.fy = float(self.config["CameraParameters"]["fy"])
self.fx = float(self.config["CameraParameters"]["fx"])