def computeVelocities(self):
if self._prev_obs is None:
raise RuntimeError("[ERROR] No measured not yet")
#0.1초 단위로 lidar센서 정보와 velocites정보를 받겠다.
time.sleep(0.1)
return self.get_lidar(), WheeledRobot.computeVelocities(
self,
time.time() * 1e6, self._prev_obs.encoder.left,
self._prev_obs.encoder.right)
def computeVelocities(self, odometry):
return WheeledRobot.computeVelocities(self, odometry[0], odometry[1], odometry[2])
def computeVelocities(self, odometry):
return WheeledRobot.computeVelocities(self, odometry[0], odometry[1], odometry[2])
