class OccupancyGridMapper(FileLoggingMapper):
def __init__(self, env, save_data=True):
super(OccupancyGridMapper, self).__init__(env, save_data)
self.grid = OccupancyGrid(GRID_SIZE, CELL_SIZE, None)
self.sonar_model = nao_sonar_model()
# update map based on new sensor data
def update(self, position, sensors):
loc = Location(sensors.get_sensor('LeftSonar'),
sensors.get_sensor('RightSonar'),
position)
if self.grid.origin is None:
self.grid.origin = loc.get_point()
self.grid.update_grid_cells(loc, self.sonar_model)
self.save_map()
if self.save_data:
self.save_update_data(position, sensors)
# return the current map
def get_map(self):
return self.grid
# store the current map in ALMemory
def save_map(self):
self.env.memory.insertData(MEM_MAP, to_json_string(self.grid))
class OccupancyGridMapper(FileLoggingMapper):
def __init__(self, env, save_data=True):
super(OccupancyGridMapper, self).__init__(env, save_data)
self.grid = OccupancyGrid(GRID_SIZE, CELL_SIZE, None)
self.sonar_model = nao_sonar_model()
# update map based on new sensor data
def update(self, position, sensors):
loc = Location(sensors.get_sensor('LeftSonar'),
sensors.get_sensor('RightSonar'), position)
if self.grid.origin is None:
self.grid.origin = loc.get_point()
self.grid.update_grid_cells(loc, self.sonar_model)
self.save_map()
if self.save_data:
self.save_update_data(position, sensors)
# return the current map
def get_map(self):
return self.grid
# store the current map in ALMemory
def save_map(self):
self.env.memory.insertData(MEM_MAP, to_json_string(self.grid))
def __init__(self, env, save_data=True):
super(OccupancyGridMapper, self).__init__(env, save_data)
self.grid = OccupancyGrid(GRID_SIZE, CELL_SIZE, None)
self.sonar_model = nao_sonar_model()
def __init__(self, env, save_data=True):
super(OccupancyGridMapper, self).__init__(env, save_data)
self.grid = OccupancyGrid(GRID_SIZE, CELL_SIZE, None)
self.sonar_model = nao_sonar_model()
