def __init__(self, start, goal):
menu = [('File',[['Load map...',self.myLoadMap],
['Save map...',self.saveMap],
['Exit',self.destroy]
]),
]
keybindings = [ ("<B1-Motion>", self.increaseCell),
("<B2-Motion>", self.middleCell),
("<B3-Motion>", self.decreaseCell),
("<Button-1>", self.increaseCell),
("<Button-2>", self.middleCell),
("<Button-3>", self.decreaseCell),
("<KeyPress-p>", self.findPath),
("<KeyPress-s>", self.setStart),
("<KeyPress-g>", self.setGoal),
("<KeyPress-2>", self.setDouble),
("<KeyPress-q>", self.destroy)
]
TkMap.__init__(self, 50, 50, 0.5,
200, 200, 100, 100,
"Occupancy Grid", menu, keybindings)
self.threshhold = 0.8
self.lastMatrix = self.grid
self.lastPath = None
self.start = start
self.goal = goal
self.infinity = 1e5000
self.bigButNotInfinity = 5000
self.value= [[self.infinity for col in range(self.cols)]
for row in range(self.rows)]
def __init__(self,
cols=400,
rows=400,
value=0.5,
widthMM=10000,
heightMM=10000,
title="Global Perceptual Space"):
""" Pass in grid cols, grid cells, and total cols/rows in MM"""
self.step = 0
self.changedValues = ()
# 2000 is the max dist of a Pioneer sonar (in MMs)
self.range = 5000
# sonar model is broken into 3 regions - these are the boundaries
self.reg2max = self.range * 0.3
self.reg1max = self.range * 0.75
self.field = 15
# max probability of occupancy
self.maxOccupied = 0.98
# create the map
TkMap.__init__(self, cols, rows, value, cols, rows, widthMM, heightMM,
title)
def __init__(self, start, goal):
menu = [
('File', [['Load map...', self.myLoadMap],
['Save map...', self.saveMap], ['Exit', self.destroy]]),
]
keybindings = [("<B1-Motion>", self.increaseCell),
("<B2-Motion>", self.middleCell),
("<B3-Motion>", self.decreaseCell),
("<Button-1>", self.increaseCell),
("<Button-2>", self.middleCell),
("<Button-3>", self.decreaseCell),
("<KeyPress-p>", self.findPath),
("<KeyPress-s>", self.setStart),
("<KeyPress-g>", self.setGoal),
("<KeyPress-2>", self.setDouble),
("<KeyPress-q>", self.destroy)]
TkMap.__init__(self, 50, 50, 0.5, 200, 200, 100, 100, "Occupancy Grid",
menu, keybindings)
self.threshhold = 0.8
self.lastMatrix = self.grid
self.lastPath = None
self.start = start
self.goal = goal
self.infinity = 1e5000
self.bigButNotInfinity = 5000
self.value = [[self.infinity for col in range(self.cols)]
for row in range(self.rows)]
def __init__(self, cols, rows, value = 0.5,
width = 200, height = 200,
widthMM = 7500, heightMM = 7500,
title = "Local Perceptual Space"):
""" Pass in grid cols, grid cells, and total width/height in MM"""
self.step = 0
TkMap.__init__(self, cols, rows, value,
width, height,
widthMM, heightMM, title)
def __init__(self,
cols,
rows,
value=0.5,
width=200,
height=200,
widthMM=7500,
heightMM=7500,
title="Local Perceptual Space"):
""" Pass in grid cols, grid cells, and total width/height in MM"""
self.step = 0
TkMap.__init__(self, cols, rows, value, width, height, widthMM,
heightMM, title)
def __init__(self, cols=400, rows=400, value = 0.5,
widthMM = 10000, heightMM = 10000,
title = "Global Perceptual Space"):
""" Pass in grid cols, grid cells, and total cols/rows in MM"""
self.step = 0
self.changedValues = ()
# 2000 is the max dist of a Pioneer sonar (in MMs)
self.range = 5000
# sonar model is broken into 3 regions - these are the boundaries
self.reg2max = self.range * 0.3
self.reg1max = self.range * 0.75
self.field = 15
# max probability of occupancy
self.maxOccupied = 0.98
# create the map
TkMap.__init__(self, cols, rows, value,
cols, rows,
widthMM, heightMM, title)
def myLoadMap(self):
TkMap.loadMap(self)
self.redraw(self.grid, None)
def myLoadMap(self):
TkMap.loadMap(self)
self.redraw(self.grid, None)
