def testconfig():
if Storage.config is None:
config = DiffeoplanConfigMaster()
config.load()
set_current_config(config)
return get_current_config()
def init_plan(self):
'''
load parameters from ROS parameter server and activate a online planner
from the given parameters.
'''
print('init_plan...')
config_path = rospy.get_param(self.node_name + '/config_path')
config = DiffeoplanConfigMaster()
config.load(config_path)
set_current_config(config)
print('...')
id_discdds = rospy.get_param(self.node_name + '/id_discdds')
id_algo = rospy.get_param(self.node_name + '/id_algo')
print('...')
# pdb.set_trace()
self.discdds = config.discdds.instance(id_discdds)
self.algo = config.algos.instance(id_algo)
self.algo.plan_time = 0.5 / self.system['frequency']
self.algo.init(id_discdds, self.discdds)
print('...')
size = self.discdds.actions[0].diffeo.get_shape()
self.size = (size[1], size[0])
print('planner initiated')
def init_plan(self):
'''
load parameters from ROS parameter server and activate a online planner
from the given parameters.
'''
print('init_plan...')
config_path = rospy.get_param(self.node_name + '/config_path')
config = DiffeoplanConfigMaster()
config.load(config_path)
set_current_config(config)
print('...')
id_discdds = rospy.get_param(self.node_name + '/id_discdds')
id_algo = rospy.get_param(self.node_name + '/id_algo')
print('...')
# pdb.set_trace()
self.discdds = config.discdds.instance(id_discdds)
self.algo = config.algos.instance(id_algo)
self.algo.plan_time = 0.5 / self.system['frequency']
self.algo.init(id_discdds, self.discdds)
print('...')
size = self.discdds.actions[0].diffeo.get_shape()
self.size = (size[1], size[0])
print('planner initiated')
def load_diffeoplan(self):
'''
load parameters from ROS parameter server and activate a online planner
from the given parameters.
'''
config_path = rospy.get_param(self.node_name + '/config_path')
config = DiffeoplanConfigMaster()
config.load(config_path)
set_current_config(config)
id_discdds = rospy.get_param(self.node_name + '/id_discdds')
id_algo = rospy.get_param(self.node_name + '/id_algo')
diffeo_structure_threshold = 0.2
# Check for threshold params, if evaluated to a list of tuple, then
# give the list or tuple as thresholds.
thresholds = rospy.get_param(self.node_name + '/planning_thresholds')
try:
if eval(thresholds).__class__ in [list, tuple]:
get_planning_thresholds = eval(thresholds)
else:
get_planning_thresholds = thresholds
except:
get_planning_thresholds = thresholds
# dummy variables
plan_length = 0
num_tests = 0
plans = []
self.online_planner = OnlinePlanning(id_discdds,
diffeo_structure_threshold,
id_algo,
plan_length,
num_tests,
get_planning_thresholds,
plans)
self.state = WAIT_GOAL