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Created FixedSizeLaser superclass for URG-04LX, XVLidar

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simondlevy
2018-06-30 18:53:18 -04:00
parent ab151052be
commit 46d2d49392
1 changed files with 24 additions and 8 deletions
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32
python/breezyslam/sensors.py
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@@ -23,11 +23,9 @@ class Laser(object):
''' '''
A class representing the specifications of a scanning laser rangefinder (Lidar). A class representing the specifications of a scanning laser rangefinder (Lidar).
''' '''
def __init__(self, scan_size, scan_rate_hz, detection_angle_degrees, distance_no_detection_mm, detection_margin=0, offset_mm=0): def __init__(self, scan_rate_hz, distance_no_detection_mm, detection_margin=0, offset_mm=0):
self.scan_size = scan_size
self.scan_rate_hz = scan_rate_hz self.scan_rate_hz = scan_rate_hz
self.detection_angle_degrees = detection_angle_degrees
self.distance_no_detection_mm = distance_no_detection_mm self.distance_no_detection_mm = distance_no_detection_mm
self.detection_margin = detection_margin self.detection_margin = detection_margin
self.offset_mm = offset_mm self.offset_mm = offset_mm
@@ -41,22 +39,40 @@ class Laser(object):
return str(self) return str(self)
class FixedSizeLaser(Laser):
'''
A class for lasers that have a fixed number of angles per scan
'''
def __init__(self, scan_size, scan_rate_hz, detection_angle_degrees, distance_no_detection_mm, detection_margin=0, offset_mm=0):
class URG04LX(Laser): Laser.__init__(self, scan_rate_hz, distance_no_detection_mm, detection_margin, offset_mm)
self.scan_size = scan_size
self.detection_angle_degrees = detection_angle_degrees
def __str__(self):
return Laser.__str__(self) + ' | ' + ('scan_size=%d | detection_angle=%3.3f deg' % (self.scan_size, self.detection_angle_degrees))
def __repr__(self):
return str(self)
class URG04LX(FixedSizeLaser):
''' '''
A class for the Hokuyo URG-04LX A class for the Hokuyo URG-04LX
''' '''
def __init__(self, detectionMargin = 0, offsetMillimeters = 0): def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
Laser.__init__(self, 682, 10, 240, 4000, detectionMargin, offsetMillimeters) FixedSizeLaser.__init__(self, 682, 10, 240, 4000, detectionMargin, offsetMillimeters)
class XVLidar(Laser): class XVLidar(FixedSizeLaser):
''' '''
A class for the GetSurreal XVLidar A class for the GetSurreal XVLidar
''' '''
def __init__(self, detectionMargin = 0, offsetMillimeters = 0): def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
Laser.__init__(self, 360, 5.5, 360, 6000, detectionMargin, offsetMillimeters) FixedSizeLaser.__init__(self, 360, 5.5, 360, 6000, detectionMargin, offsetMillimeters)
class RPLidarA1(Laser): class RPLidarA1(Laser):
''' '''
@@ -64,6 +80,6 @@ class RPLidarA1(Laser):
''' '''
def __init__(self, detectionMargin = 0, offsetMillimeters = 0): def __init__(self, detectionMargin = 0, offsetMillimeters = 0):
Laser.__init__(self, 360, 5.5, 360, 12000, detectionMargin, offsetMillimeters) Laser.__init__(self, 5.5, 12000, detectionMargin, offsetMillimeters)