本文整理汇总了Python中driver.Driver.followPolyLineG方法的典型用法代码示例。如果您正苦于以下问题：Python Driver.followPolyLineG方法的具体用法？Python Driver.followPolyLineG怎么用？Python Driver.followPolyLineG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driver.Driver的用法示例。
在下文中一共展示了Driver.followPolyLineG方法的2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: test_followLineG
# 需要导入模块: from driver import Driver [as 别名]
# 或者: from driver.Driver import followPolyLineG [as 别名]
def test_followLineG( self ):
robot = MagicMock()
robot.localisation.pose.return_value = (0, 0.3, 0)
driver = Driver(robot, maxSpeed = 0.5)
offsetDistance = 0.03
gen = driver.followPolyLineG(pts = [(0, 0), (1.0, 0)],
offsetDistance=offsetDistance)
speed, angularSpeed = gen.next()
self.assertAlmostEqual(angularSpeed, -4 * math.radians(20))
self.assertAlmostEqual(speed, 0.444444444444)
# now for closer distance reduce the turning angle
robot.localisation.pose.return_value = (0, 1.5 * offsetDistance, 0)
speed, angularSpeed = gen.next()
self.assertAlmostEqual(angularSpeed, -4 * math.radians(10))
self.assertAlmostEqual(speed, 0.4722222222222222)示例2: __init__
# 需要导入模块: from driver import Driver [as 别名]
# 或者: from driver.Driver import followPolyLineG [as 别名]
#.........这里部分代码省略.........
def ver0( self, verbose=False ):
# Go straight for 2 meters
print "ver0", self.robot.battery
prevRFID = None
self.load_cube()
for cmd in self.driver.goStraightG(2.0):
self.robot.setSpeedPxPa(*cmd)
if prevRFID != self.robot.rfu620Data:
prevRFID = self.robot.rfu620Data
posXY = combinedPose(self.robot.localisation.pose(), (-0.35, 0.14, 0))[:2]
for d in self.robot.rfu620Data[1]:
i = d[0] # i.e. 0x1000 0206 0000
x, y, zone = (i >> 24)&0xFF, (i >> 16)&0xFF, i&0xFF
print hex(i), (x, y)
if x == 1:
viewlog.dumpBeacon(posXY, color=(0, 0, 255))
elif x == 2:
viewlog.dumpBeacon(posXY, color=(255, 0, 255))
else:
viewlog.dumpBeacon(posXY, color=(255, 255, 255))
self.robot.update()
self.place_cube()
self.game_over()
def handle_single_cube(self, pts, rev_pts, timeout=60):
if self.find_cube(timeout=20.0):
self.load_cube()
print verify_loaded_cube(self.robot.laserData)
start_time = self.robot.time
for cmd in self.driver.followPolyLineG(pts, withStops=True):
self.robot.setSpeedPxPa(*cmd)
self.robot.update()
if (not is_in_loading_zone(self.robot.localisation.pose(),
self.robot.last_valid_rfid)
and is_path_blocked(self.robot.laserData, self.robot.remissionData)):
print "ESCAPING FROM", self.robot.localisation.pose()
self.driver.stop()
break
if self.robot.time - start_time > timeout:
print "TIMEOUT", self.robot.time - start_time
self.driver.goStraight(-0.3, timeout=10)
self.driver.turn(angle=math.radians(90), timeout=10)
self.driver.turn(angle=math.radians(-90), timeout=10)
self.place_cube()
return # demo - game3 experiment
self.place_cube()
# handle offset in case of blocked path
print rev_pts
route = Route(pts=rev_pts, conv=DummyConvertor())
_, dist, signed_index = route.findNearestEx(self.robot.localisation.pose())
rev_pts = rev_pts[max(0, abs(signed_index) - 1):]
print "cut path", dist, signed_index, rev_pts
self.driver.turn(angle=math.radians(180), timeout=30)
for cmd in self.driver.followPolyLineG(rev_pts):
self.robot.setSpeedPxPa(*cmd)
self.robot.update()
def ver1(self, verbose=False):