def testconfig(): if Storage.config is None: config = DiffeoplanConfigMaster() config.load() set_current_config(config) return get_current_config()
def init_plan(self): ''' load parameters from ROS parameter server and activate a online planner from the given parameters. ''' print('init_plan...') config_path = rospy.get_param(self.node_name + '/config_path') config = DiffeoplanConfigMaster() config.load(config_path) set_current_config(config) print('...') id_discdds = rospy.get_param(self.node_name + '/id_discdds') id_algo = rospy.get_param(self.node_name + '/id_algo') print('...') # pdb.set_trace() self.discdds = config.discdds.instance(id_discdds) self.algo = config.algos.instance(id_algo) self.algo.plan_time = 0.5 / self.system['frequency'] self.algo.init(id_discdds, self.discdds) print('...') size = self.discdds.actions[0].diffeo.get_shape() self.size = (size[1], size[0]) print('planner initiated')
def load_diffeoplan(self): ''' load parameters from ROS parameter server and activate a online planner from the given parameters. ''' config_path = rospy.get_param(self.node_name + '/config_path') config = DiffeoplanConfigMaster() config.load(config_path) set_current_config(config) id_discdds = rospy.get_param(self.node_name + '/id_discdds') id_algo = rospy.get_param(self.node_name + '/id_algo') diffeo_structure_threshold = 0.2 # Check for threshold params, if evaluated to a list of tuple, then # give the list or tuple as thresholds. thresholds = rospy.get_param(self.node_name + '/planning_thresholds') try: if eval(thresholds).__class__ in [list, tuple]: get_planning_thresholds = eval(thresholds) else: get_planning_thresholds = thresholds except: get_planning_thresholds = thresholds # dummy variables plan_length = 0 num_tests = 0 plans = [] self.online_planner = OnlinePlanning(id_discdds, diffeo_structure_threshold, id_algo, plan_length, num_tests, get_planning_thresholds, plans) self.state = WAIT_GOAL