Exemplos de PathFilter.Lvbo em Python

Exemplo n.º 1

Arquivo: movebase.py Projeto: zhouzunyi/MOI_Robot_Winter

def PathCallback(path):
	
		newpath=PathFilter.newPathFromAStar(path)
		mPath2.publish(newpath)
		#两次滤波对路径进行规整
		newpath=PathFilter.Lvbo(newpath,0.5)
		newpath=PathFilter.Lvbo(newpath,0.8)
		mPath.publish(newpath)	
		poses=newpath.poses
		
		POSES=poses[:]
		NewPath=True

Exemplo n.º 2

def PathCallback(path):
    global POSES
    global NewPath
    newpath = PathFilter.newPathFromAStar(path)

    #两次滤波对路径进行规整
    newpath = PathFilter.Lvbo(newpath, 0.5)
    newpath = PathFilter.Lvbo(newpath, 0.8)
    #mPath2.publish(newpath)
    newpath = PathFilter.Lvbo(newpath, 1.0)
    #newpath=PathFilter.Lvbo(newpath,1.6)
    #最后的滤波　选择长距离点
    newpath = PathFilter.ChooseMainPath(newpath)
    mPath.publish(newpath)

    poses = newpath.poses

    POSES = poses[:]
    NewPath = True

Exemplo n.º 3

def PathCallback(path):
		global POSES
		global NewPath
		
		if(len(path.poses)<1):
			rospy.loginfo("a valid plan")	
			return
		newpath=PathFilter.newPathFromAStar(path)
		
		#两次滤波对路径进行规整
		newpath=PathFilter.Lvbo(newpath,0.5)
		newpath=PathFilter.Lvbo(newpath,0.8)
		#mPath2.publish(newpath)
		#newpath=PathFilter.Lvbo(newpath,1.0)
		#newpath=PathFilter.Lvbo(newpath,1.)
		#最后的滤波　选择长距离点
		newpath=PathFilter.ChooseMainPath(newpath)
		mPath.publish(newpath)	
			
		poses=newpath.poses	
		POSES=poses[:]
		NewPath=True