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))