def viewLaserExtension( self, robot, id, data ):
if id == 'laser' or id == 'laser2':
# if self.firstData:
# self.dumpLaserGeometry( robot.laser.pose )
# self.firstData = False
if id == 'laser':
self.dumpLaserGeometry( robot.laser.pose )
else:
self.dumpLaserGeometry( robot.laser2.pose )
if robot.localisation:
s = 2*self.degStep
data2 = [ (x == 0 or x > self.distanceLimit*1000) and 100000 or x for x in data]
if self.sideLimit:
if len(data) == 541:
for i in range(90-20, 90+20) + range(540-90-20, 540-90+20):
if data[i] != 0 and data[i] < self.sideLimit*1000:
data2[i] = data[i]
elif len(data) == 271:
s = self.degStep
else:
print "Laser bad data size:", len(data)
arr = [min(i)/1000.0 for i in [islice(data2, start, start+s) for start in range(0,len(data2),s)]]
if len(arr) > 0:
viewlog.dumpSharps( robot.localisation.pose(), arr )
def viewLaserExtension(self, robot, id, data):
if id == 'laser' or id == 'laser2':
# if self.firstData:
# self.dumpLaserGeometry( robot.laser.pose )
# self.firstData = False
if id == 'laser':
self.dumpLaserGeometry(robot.laser.pose)
else:
self.dumpLaserGeometry(robot.laser2.pose)
if robot.localisation:
s = 2 * self.degStep
data2 = [(x == 0 or x > self.distanceLimit * 1000) and 100000
or x for x in data]
if self.sideLimit:
if len(data) == 541:
for i in range(90 - 20, 90 + 20) + range(
540 - 90 - 20, 540 - 90 + 20):
if data[i] != 0 and data[i] < self.sideLimit * 1000:
data2[i] = data[i]
elif len(data) == 271:
s = self.degStep
else:
print "Laser bad data size:", len(data)
arr = [
min(i) / 1000.0 for i in [
islice(data2, start, start + s)
for start in range(0, len(data2), s)
]
]
if len(arr) > 0:
viewlog.dumpSharps(robot.localisation.pose(), arr)
def viewLaserExtension( robot, id, data ):
if id == 'laser':
if robot.localisation:
s = 10
arr = [min(i)/1000.0 for i in [itertools.islice(data, start, start+s) for start in range(0,len(data),s)]]
# print "arr", len(arr)
# arr = [x > 1.0 and 10.0 or x for x in arr]
# arr = [x < 0.3 and 10.0 or x for x in arr]
viewlog.dumpSharps( robot.localisation.pose(), arr )
def viewLaserExtension(robot, id, data):
if id == 'laser':
if robot.localisation:
s = 10
arr = [
min(i) / 1000.0 for i in [
itertools.islice(data, start, start + s)
for start in range(0, len(data), s)
]
]
# print "arr", len(arr)
# arr = [x > 1.0 and 10.0 or x for x in arr]
# arr = [x < 0.3 and 10.0 or x for x in arr]
viewlog.dumpSharps(robot.localisation.pose(), arr)