Python OccupancyGrid.expandObstaclesの例

コード例 #1

ファイル: set_goal_v2.py プロジェクト: mdragone1/hsr-erl

def processOccupancyGrid(gridMessage, scaleFactor, cacheEmptyCells):
    grid = OccupancyGrid(gridMessage.data, gridMessage.info.height, gridMessage.info.width, gridMessage.info.resolution,
                (gridMessage.info.origin.position.x, gridMessage.info.origin.position.y))
    grid.scale(scaleFactor, cacheEmptyCells=cacheEmptyCells)
    grid.expandObstacles()

    return grid

コード例 #2

ファイル: mapping.py プロジェクト: aaravrav142/Turtlebot_Navigation

def processOccupancyGrid(gridMessage, scaleFactor, cacheEmptyCells):
    grid = OccupancyGrid(gridMessage.data, gridMessage.info.height, gridMessage.info.width, gridMessage.info.resolution,
                (gridMessage.info.origin.position.x, gridMessage.info.origin.position.y))
    grid.scale(scaleFactor, cacheEmptyCells=cacheEmptyCells)
    grid.expandObstacles()

    return grid