def sense(self, action):
"""
Perform an action at current location and get the belief distribution
over all categories.
"""
try:
req = InfoMaxRequest()
req.num_objects = self.num_objects
req.objectNames = self.category_names
req.actionNames = self.action_names
req.numCats = self.num_categories
req.catID = self.objects[self.current_location]
req.actionID.val = action
rospy.logdebug('calling sense service with action %d (%s) on object %d(%s)' %
(req.actionID.val, self.action_names[req.actionID.val], req.catID, self.category_names[req.catID]))
if not self.robot_server: res = self.get_belief_distribution(req)
else: res = self.robot_server.handle_infomax_request(req)
self.current_location = res.location
self.current_state = res.state
return res
except rospy.ServiceException as e:
rospy.logerr('Service call failed: %s' % e)
return None
def sense(self, action):
"""
Perform an action at current location and get the belief distribution
over all categories.
"""
try:
req = InfoMaxRequest()
req.num_objects = self.num_objects
req.objectNames = self.category_names
req.actionNames = self.action_names
req.numCats = self.num_categories
req.catID = self.objects[self.current_location]
req.actionID.val = action
rospy.logdebug(
'calling sense service with action %d (%s) on object %d(%s)' %
(req.actionID.val, self.action_names[req.actionID.val],
req.catID, self.category_names[req.catID]))
if not self.robot_server: res = self.get_belief_distribution(req)
else: res = self.robot_server.handle_infomax_request(req)
self.current_location = res.location
self.current_state = res.state
return res
except rospy.ServiceException as e:
rospy.logerr('Service call failed: %s' % e)
return None
