def setup(self, unused_timeout = 15): blackboard = Blackboard() blackboard.protocol_flag = dict() blackboard.feedback = dict() for i in blackboard.PV: blackboard.protocol_flag[i] = (False,0.) for i in blackboard.Inters: blackboard.feedback[i] = 0. return True
def update(self): blackboard = Blackboard() blackboard.protocol_flag = dict() blackboard.feedback = dict() for i in blackboard.PV: blackboard.protocol_flag[i] = (False,0.) for i in blackboard.Inters: blackboard.feedback[i] = 0. num = sum(blackboard.pos[:3]) for idx,item in enumerate(blackboard.candi): if idx < 3: blackboard.protocol_flag[item] = (True,blackboard.pos[idx]/num) return py_trees.Status.SUCCESS