def getNextValues(self, state, inp): (map, sensors) = inp if self.useCostDynamics: dynamicsModel = gridDynamics.GridCostDynamicsSM(map) scale = 10.0 / (1.0 - 0.5)**4 else: scale = 1 dynamicsModel = gridDynamics.GridDynamics(map) goalIndices = map.pointToIndices(self.goalPoint) currentIndices = map.pointToIndices(sensors.odometry) return newPathAndSubgoal(map, sensors, self.goalPoint, dynamicsModel, state, timeToReplanDynamicMap, scale)
def getNextValues(self, state, inp): (goalIndices, (map, sensors)) = inp if self.useCostDynamics: dynamicsModel = gridDynamics.GridCostDynamicsSM(map) scale = 10.0 / (1.0 - 0.5)**4 else: scale = 1 dynamicsModel = gridDynamics.GridDynamics(map) currentIndices = map.pointToIndices(sensors.odometry) (path, subgoal) = newPathAndSubgoal(map, sensors, goalIndices, dynamicsModel, state, timeToReplanDynamicMapAndGoal, scale) return (path, (subgoal, path == None))