本文整理匯總了Python中nav_msgs.msg.OccupancyGrid.data[y*w+x]方法的典型用法代碼示例。如果您正苦於以下問題：Python OccupancyGrid.data[y*w+x]方法的具體用法？Python OccupancyGrid.data[y*w+x]怎麽用？Python OccupancyGrid.data[y*w+x]使用的例子？那麽, 這裏精選的方法代碼示例或許可以為您提供幫助。您也可以進一步了解該方法所在類nav_msgs.msg.OccupancyGrid的用法示例。
在下文中一共展示了OccupancyGrid.data[y*w+x]方法的1個代碼示例，這些例子默認根據受歡迎程度排序。您可以為喜歡或者感覺有用的代碼點讚，您的評價將有助於係統推薦出更棒的Python代碼示例。
示例1: OptimizeOccupancyGrid
# 需要導入模塊: from nav_msgs.msg import OccupancyGrid [as 別名]
# 或者: from nav_msgs.msg.OccupancyGrid import data[y*w+x] [as 別名]
def OptimizeOccupancyGrid(data):
## Tuning Constants
maxUnknownPercent = 0.50#% # Used to speed up the condensing step
global holster, newmap, newMapPub, w,h
# Set newmap meta data
newres = 0.20 #.2m = radius of robot
oldRes = data.info.resolution
w = math.trunc(data.info.width*oldRes/newres)
h = math.trunc(data.info.height*oldRes/newres)
#Calculate new origin
x = data.info.origin.position.x
y = data.info.origin.position.y
origin = Point(x, y,0)
newPose = Pose(origin, data.info.origin.orientation )
## Create new map to send
newHeader = Header(1,rospy.get_rostime(),'map')
metaData = MapMetaData(rospy.get_rostime(), newres,w, h, newPose )
newmap = OccupancyGrid( newHeader, metaData, [])
newmap.data = [-1]*w*h #clear the list
cellsPerSide = newres/oldRes
if cellsPerSide % 1 >= 0.5:
cellsPerSide = int(math.ceil(cellsPerSide)) # idk... its usually 3.9999
else:
cellsPerSide = int(math.trunc(cellsPerSide))
for x in range(w):
for y in range(h):
######### Function to compress map cells
newVal = cellShrinker(x,y, cellsPerSide, maxUnknownPercent)
newmap.data[y*w + x] = math.trunc(newVal)
expandedMap = [-1]*w*h #clear the list
for x in range(w):
for y in range(h):
expandedMap[y*w + x] = expandCell(x,y )
newMapPub.publish(newmap)