本文整理汇总了Python中NavHelper.setOdometryDestination方法的典型用法代码示例。如果您正苦于以下问题：Python NavHelper.setOdometryDestination方法的具体用法？Python NavHelper.setOdometryDestination怎么用？Python NavHelper.setOdometryDestination使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类NavHelper的用法示例。
在下文中一共展示了NavHelper.setOdometryDestination方法的6个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: avoidRight
# 需要导入模块: import NavHelper [as 别名]
# 或者: from NavHelper import setOdometryDestination [as 别名]
def avoidRight(nav):
if nav.firstFrame():
avoidDest = RelRobotLocation(0, -25, 0)
helper.setOdometryDestination(nav, avoidDest)
return nav.stay()
return Transition.getNextState(nav, avoidRight)示例2: dodge
# 需要导入模块: import NavHelper [as 别名]
# 或者: from NavHelper import setOdometryDestination [as 别名]
def dodge(nav):
if nav.firstFrame():
## SET UP the dodge direction based on where the obstacle is
# if directly in front of us, move back and to one side based on
# where the goToPosition dest is
if dodge.position is dodge.position.NORTH:
print "Dodging NORTH obstacle"
relDest = helper.getRelativeDestination(nav.brain.loc,
goToPosition.dest)
if relDest.relY <= 0:
direction = -1
else:
direction = 1
dodgeDest = RelRobotLocation(-15, direction*10, 0)
elif dodge.position is dodge.position.NORTHEAST:
print "Dodging NORTHEAST obstacle"
dodgeDest = RelRobotLocation(0, 15, 0)
elif dodge.position is dodge.position.EAST:
print "Dodging EAST obstacle"
dodgeDest = RelRobotLocation(0, 20, 0)
elif dodge.position is dodge.position.SOUTHEAST:
print "Dodging SOUTHEAST obstacle"
dodgeDest = RelRobotLocation(0, 15, 0)
# if directly behind us, move forward and to one side based on
# where the goToPosition dest is
elif dodge.position is dodge.position.SOUTH:
print "Dodging SOUTH obstacle"
relDest = helper.getRelativeDestination(nav.brain.loc,
goToPosition.dest)
if relDest.relY <= 0:
direction = -1
else:
direction = 1
dodgeDest = RelRobotLocation(15, direction*10, 0)
elif dodge.position is dodge.position.SOUTHWEST:
print "Dodging SOUTHWEST obstacle"
dodgeDest = RelRobotLocation(0, -15, 0)
elif dodge.position is dodge.position.WEST:
print "Dodging WEST obstacle"
dodgeDest = RelRobotLocation(0, -20, 0)
elif dodge.position is dodge.position.NORTHWEST:
print "Dodging NORTHWEST obstacle"
dodgeDest = RelRobotLocation(0, -15, 0)
helper.setOdometryDestination(nav, dodgeDest)
return Transition.getNextState(nav, dodge)示例3: walkingTo
# 需要导入模块: import NavHelper [as 别名]
# 或者: from NavHelper import setOdometryDestination [as 别名]
def walkingTo(nav):
"""
Walks to a relative location based on odometry
"""
if nav.firstFrame():
helper.stand(nav)
return nav.stay()
if nav.brain.motion.isStanding():
if len(walkingTo.destQueue) > 0:
dest = walkingTo.destQueue.popleft()
helper.setOdometryDestination(nav, dest, walkingTo.speed)
return nav.stay()
else:
return nav.goNow('standing')
return nav.stay()示例4: walkingTo
# 需要导入模块: import NavHelper [as 别名]
# 或者: from NavHelper import setOdometryDestination [as 别名]
def walkingTo(nav):
"""
State to be used for odometry walking.
"""
if nav.firstFrame():
helper.stand(nav)
return nav.stay()
if nav.brain.interface.motionStatus.standing:
if len(walkingTo.destQueue) > 0:
dest = walkingTo.destQueue.popleft()
helper.setOdometryDestination(nav, dest, walkingTo.speed)
return nav.stay()
else:
return nav.goNow("standing")
return nav.stay()示例5: walkingTo
# 需要导入模块: import NavHelper [as 别名]
# 或者: from NavHelper import setOdometryDestination [as 别名]
def walkingTo(nav):
"""
State to be used for odometry walking.
"""
if nav.firstFrame():
print ("Resetting odometry!")
nav.brain.interface.motionRequest.reset_odometry = True
nav.brain.interface.motionRequest.timestamp = int(nav.brain.time * 1000)
print ("MY dest: ", nav.destination.relX, nav.destination.relY, nav.destination.relH)
helper.walkInPlace(nav)
return nav.stay()
if not nav.brain.motion.calibrated:
helper.stand(nav)
return nav.stay()
if nav.counter < 5:
return nav.stay()
walkingTo.currentOdo = RelRobotLocation(nav.brain.interface.odometry.x,
nav.brain.interface.odometry.y,
nav.brain.interface.odometry.h)
# TODO why check standing?
if nav.brain.interface.motionStatus.standing:
if len(walkingTo.destQueue) > 0:
dest = walkingTo.destQueue.popleft()
# dest.relH = 0
helper.setOdometryDestination(nav, dest, walkingTo.speed)
# helper.setDestination(nav, dest, walkingTo.speed)
print ("MY dest: ", dest.relX, dest.relY, dest.relH)
if locationsMatch(nav.destination, walkingTo.currentOdo):
print("I think i'm there!")
return nav.goNow('standing')
# if nav.counter % 10 == 0:
# print "Current odo:"
# print ("x:", walkingTo.currentOdo.relX)
# print ("y:", walkingTo.currentOdo.relY)
# print ("h:", walkingTo.currentOdo.relH)
return nav.stay()示例6: walkingTo
# 需要导入模块: import NavHelper [as 别名]
# 或者: from NavHelper import setOdometryDestination [as 别名]
def walkingTo(nav):
"""
State to be used for odometry walking.
"""
if nav.firstFrame():
print ("Resetting odometry!")
nav.brain.interface.motionRequest.reset_odometry = True
nav.brain.interface.motionRequest.timestamp = int(nav.brain.time * 1000)
helper.stand(nav)
return nav.stay()
walkingTo.currentOdo = RelRobotLocation(nav.brain.interface.odometry.x,
nav.brain.interface.odometry.y,
nav.brain.interface.odometry.h)
# TODO why check standing?
if nav.brain.interface.motionStatus.standing:
if len(walkingTo.destQueue) > 0:
dest = walkingTo.destQueue.popleft()
helper.setOdometryDestination(nav, dest, walkingTo.speed)
print ("MY dest: ", dest.relX, dest.relY, dest.relH)
if locationsMatch(nav.destination, walkingTo.currentOdo):
return nav.goNow('standing')
# walkingTo.currentOdow = RelRobotLocation(nav.brain.interface.odometry.x,
# nav.brain.interface.odometry.y,
# nav.brain.interface.odometry.h)
if nav.counter % 30 == 0:
print "Current odo:"
print ("x:", walkingTo.currentOdo.relX)
print ("y:", walkingTo.currentOdo.relY)
print ("h:", walkingTo.currentOdo.relH)
# print "Current odow:"
# print ("x:", walkingTo.currentOdow.relX)
# print ("y:", walkingTo.currentOdow.relY)
# print ("h:", walkingTo.currentOdow.relH)
# print "---------------"
return nav.stay()