def handle_guess(self, greq):
"""
Takes an input guess (a list of Point objects) and throws out
the points that seem impossible. Then resamples to return a list
of equally probable points. Most of this functionality is provided
via the perfesser's guesser methods.
"""
# Check input types
assert isinstance(greq, GuessRequest)
assert isinstance(greq.inPoints, list)
assert isinstance(greq.inPoints[0], Pt)
self.guesser.newPoints(self.mapPointList)
pts = Belief()
pts.points = greq.inPoints
self.guesser.update(pts)
# Return
gresp = GuessResponse(sender=self.name,
source_stamp=rospy.Time.now(),
source_data="",
outPoints=self.guesser.outPoints(),
no_data=False)
return gresp
def answer_server(self, req):
gr = GuessResponse()
gr.sender = self.name
if not self.ready_to_publish:
gr.no_data = True
return gr
gr.no_data = False
self.guesser.handle_guess(req.points)
gr.outPoints = self.guesser.pointList
return gr
def answer_server(self, req):
"""
Provides a reply to a Guess service call. The Perfesser will call
this after we've notified him that we have something worth saying
about the robot's location. The call is simply passed into the
bump_guess Guesser.
"""
gr = GuessResponse()
gr.sender = self.name
if self.guesser.handle_guess(req.inPoints):
gr.no_data = False
gr.outPoints = self.guesser.pointList
gr.source_stamp = self.guesser.stamp
gr.source_data = self.guesser.source_data
else:
gr.no_data = True
return gr
def surveyGuess(self, guesser):
if self.service_stack:
s = self.service_stack.pop(0)
g = GuessRequest()
g.inPoints = guesser.outPoints()
g.means = guesser.means()
g.stds = guesser.stds()
g.pers = guesser.periods
g.data_type = guesser.data_type
g.source_stamp = guesser.stamp
g.source_data = guesser.source_data
service = self.services[s]
resp = service(g)
if self.debug:
s = String()
self.counter += 1
s.data += " CALLED:%d:%s \n" % (
self.counter,
str(service),
)
s.data += str(service.resolved_name) + " "
s.data += resp.source_data + "\n"
s.data += str(resp.source_stamp.secs) + ":" + str(
resp.source_stamp.nsecs)
self.pdebug.publish(s)
if not resp.no_data:
guesser.newPoints(resp.outPoints)
guesser.stamp = resp.source_stamp
guesser.source_data = resp.source_data
else:
resp = GuessResponse()
resp.no_data = True
return resp
