draw_rangefinder(ctx, sensor, sensor_pose, sensor_data) if sensor.sensor_type_string() == 'optics': draw_optics(ctx, sensor, sensor_pose, sensor_data) ctx.restore() # surface.write_to_png('world.png') surface.show_page() if __name__ == '__main__': radius = 10 world = create_random_world(radius) rt = TexturedRaytracer() rt.set_map(world) pose = get_safe_pose(rt, world_radius=radius, safe_zone=safe_zone) vehicle = Vehicle() sensor = Rangefinder() sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 45), spatial_sigma=deg2rad(1), sigma=0) vehicle.add_sensor(sensor) sensor = Optics() sensor.add_photoreceptors(linspace(-pi / 2, pi / 2, 180), spatial_sigma=deg2rad(1), sigma=0) vehicle.add_sensor(sensor) vehicle.set_map(world) data = vehicle.compute_observations(pose) simple_drawing(world, vehicle, pose, data)