本文整理汇总了Python中nav_msgs.msg.OccupancyGrid.data[0][row]方法的典型用法代码示例。如果您正苦于以下问题：Python OccupancyGrid.data[0][row]方法的具体用法？Python OccupancyGrid.data[0][row]怎么用？Python OccupancyGrid.data[0][row]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nav_msgs.msg.OccupancyGrid的用法示例。
在下文中一共展示了OccupancyGrid.data[0][row]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: __init__
# 需要导入模块: from nav_msgs.msg import OccupancyGrid [as 别名]
# 或者: from nav_msgs.msg.OccupancyGrid import data[0][row] [as 别名]
def __init__(self, pt=None):
self.n_particles = 10
self.lin_spread = .05
self.ang_spread = 1
self.pt = pt if pt else (5,5,5)
self.variance = 10
self.gauss_constant = math.sqrt(2*math.pi)
self.expected_value = 0
map = OccupancyGrid()
map.header.frame_id = '/odom'
# map.info.map_load_time = rospy.Time.now()
map.info.resolution = .1 # The map resolution [m/cell]
map.info.width = 1000
map.info.height = 1000
map.data = [[0 for _ in range(map.info.height)] for _ in range(map.info.width)]
# for row in range(map.info.height):
# for col in range(map.info.width):
# print str(col) + str(row)
# map.data[col] = 0
map.data[40][50]=1
map.data[120][100] = 1
map.data[12][110] = 1
# map.data[13][10] = 1
# map.data[13][11] = 1
# map.data[11][10] = 1
for row in range(map.info.height):
map.data[0][row] = 1
map.data[map.info.width-1][row] = 1
for col in range(map.info.width):
map.data[col][0] = 1
map.data[col][map.info.height -1] = 1
#https://github.com/z2daj/rbe3002/blob/master/scripts/lab3.py
print "start"
self.occupancy_field = OccupancyField(map)示例2: __init__
# 需要导入模块: from nav_msgs.msg import OccupancyGrid [as 别名]
# 或者: from nav_msgs.msg.OccupancyGrid import data[0][row] [as 别名]
def __init__(self, test = False):
self.test = test
if self.test:
print "Running particle filter in test mode"
else:
print "Running particle filter"
self.initialized = False # make sure we don't perform updates before everything is setup
rospy.init_node('pf') # tell roscore that we are creating a new node named "pf"
self.base_frame = "base_link" # the frame of the robot base
self.map_frame = "map" # the name of the map coordinate frame
self.odom_frame = "odom" # the name of the odometry coordinate frame
self.scan_topic = "scan" # the topic where we will get laser scans from
self.n_particles = 20 # the number of particles to use
self.d_thresh = 0.1 # the amount of linear movement before performing an update
self.a_thresh = math.pi/6 # the amount of angular movement before performing an update
self.laser_max_distance = 2.0 # maximum penalty to assess in the likelihood field model
self.scan_count = 0
self.robot_pose = Pose(position=Point(x=.38, y=.6096,z=0), orientation=Quaternion(x=0, y=0, z=0, w=1))
# Setup pubs and subs
# pose_listener responds to selection of a new approximate robot location (for instance using rviz)
self.pose_listener = rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.update_initial_pose)
# publish the current particle cloud. This enables viewing particles in rviz.
self.particle_pub = rospy.Publisher("particlecloud", PoseArray)
self.vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
# laser_subscriber listens for data from the lidar
self.laser_subscriber = rospy.Subscriber(self.scan_topic, LaserScan, self.scan_received)
# enable listening for and broadcasting coordinate transforms
self.tf_listener = TransformListener()
self.tf_broadcaster = TransformBroadcaster()
self.particle_cloud = []
self.ang_spread = 10.0/180.0 * math.pi
self.lin_spread = .1
self.current_odom_xy_theta = []
#Set up constants for Guassian Probability
self.variance = .1
self.gauss_constant = math.sqrt(2*math.pi)
self.expected_value = 0
# request the map from the map server, the map should be of type nav_msgs/OccupancyGrid
# We make a fake approximate map of an empty 2 by 2 square for testing to keep it simple.
# If this worked better, we'd expand to a real OccupancyGrid, but we never got it to work better.
map = OccupancyGrid()
map.header.frame_id = '/odom'
map.info.map_load_time = rospy.Time.now()
map.info.resolution = .1 # The map resolution [m/cell]
map.info.width = 288
map.info.height = 288
map.data = [[0 for _ in range(map.info.height)] for _ in range(map.info.width)]
for row in range(map.info.height):
map.data[0][row] = 1
map.data[map.info.width-1][row] = 1
for col in range(map.info.width):
map.data[col][0] = 1
map.data[col][map.info.height -1] = 1
self.occupancy_field = OccupancyField(map)
if self.test:
print "Initialized"
self.initialized = True