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Added shouldUpdateMap flag (default True) to CoreSLAM.update()

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simondlevy
2017-11-12 16:11:31 -05:00
parent ff19bd2c90
commit a25e70d672
1 changed files with 12 additions and 10 deletions
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22
python/breezyslam/algorithms.py
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@@ -57,9 +57,9 @@ class CoreSLAM(object):
Implementing classes should provide the method Implementing classes should provide the method
_updateMapAndPointcloud(scan_mm, velocities) _updateMapAndPointcloud(scan_mm, velocities, shouldUpdateMap)
to update the map and point-cloud (particle cloud). to update the point-cloud (particle cloud) and map (if shouldUpdateMap true)
''' '''
def __init__(self, laser, map_size_pixels, map_size_meters, def __init__(self, laser, map_size_pixels, map_size_meters,
@@ -90,7 +90,7 @@ class CoreSLAM(object):
# Initialize the map # Initialize the map
self.map = pybreezyslam.Map(map_size_pixels, map_size_meters) self.map = pybreezyslam.Map(map_size_pixels, map_size_meters)
def update(self, scans_mm, velocities): def update(self, scans_mm, velocities, shouldUpdateMap=True):
''' '''
Updates the scan and odometry, and calls the the implementing class's _updateMapAndPointcloud method with Updates the scan and odometry, and calls the the implementing class's _updateMapAndPointcloud method with
the specified velocities. the specified velocities.
@@ -98,6 +98,7 @@ class CoreSLAM(object):
scan_mm is a list of Lidar scan values, whose count is specified in the scan_size scan_mm is a list of Lidar scan values, whose count is specified in the scan_size
attribute of the Laser object passed to the CoreSlam constructor attribute of the Laser object passed to the CoreSlam constructor
velocities is a tuple of velocities (dxy_mm, dtheta_degrees, dt_seconds) for odometry velocities is a tuple of velocities (dxy_mm, dtheta_degrees, dt_seconds) for odometry
shouldUpdateMap flags for whether you want to update the map
''' '''
# Build a scan for computing distance to map, and one for updating map # Build a scan for computing distance to map, and one for updating map
@@ -111,7 +112,7 @@ class CoreSLAM(object):
self.velocities = (new_dxy_mm, new_dtheta_degrees, 0) self.velocities = (new_dxy_mm, new_dtheta_degrees, 0)
# Implementing class updates map and pointcloud # Implementing class updates map and pointcloud
self._updateMapAndPointcloud(velocities) self._updateMapAndPointcloud(velocities, shouldUpdateMap)
def getmap(self, mapbytes): def getmap(self, mapbytes):
''' '''
@@ -158,7 +159,7 @@ class SinglePositionSLAM(CoreSLAM):
init_coord_mm = 500 * map_size_meters # center of map init_coord_mm = 500 * map_size_meters # center of map
self.position = pybreezyslam.Position(init_coord_mm, init_coord_mm, 0) self.position = pybreezyslam.Position(init_coord_mm, init_coord_mm, 0)
def _updateMapAndPointcloud(self, velocities): def _updateMapAndPointcloud(self, velocities, shouldUpdateMap):
''' '''
Updates the map and point-cloud (particle cloud). Called automatically by CoreSLAM.update() Updates the map and point-cloud (particle cloud). Called automatically by CoreSLAM.update()
velocities is a tuple of the form (dxy_mm, dtheta_degrees, dt_seconds). velocities is a tuple of the form (dxy_mm, dtheta_degrees, dt_seconds).
@@ -179,14 +180,15 @@ class SinglePositionSLAM(CoreSLAM):
# Get new position from implementing class # Get new position from implementing class
new_position = self._getNewPosition(start_pos) new_position = self._getNewPosition(start_pos)
# Update the map with this new position
self.map.update(self.scan_for_mapbuild, new_position, self.map_quality, self.hole_width_mm)
# Update the current position with this new position, adjusted by laser offset # Update the current position with this new position, adjusted by laser offset
self.position = new_position.copy() self.position = new_position.copy()
self.position.x_mm -= self.laser.offset_mm * self._costheta() self.position.x_mm -= self.laser.offset_mm * self._costheta()
self.position.y_mm -= self.laser.offset_mm * self._sintheta() self.position.y_mm -= self.laser.offset_mm * self._sintheta()
# Update the map with this new position if indicated
if shouldUpdateMap:
self.map.update(self.scan_for_mapbuild, new_position, self.map_quality, self.hole_width_mm)
def getpos(self): def getpos(self):
''' '''
Returns current position as a tuple (x_mm, y_mm, theta_degrees) Returns current position as a tuple (x_mm, y_mm, theta_degrees)
@@ -245,13 +247,13 @@ class RMHC_SLAM(SinglePositionSLAM):
self.sigma_theta_degrees = sigma_theta_degrees self.sigma_theta_degrees = sigma_theta_degrees
self.max_search_iter = max_search_iter self.max_search_iter = max_search_iter
def update(self, scan_mm, velocities=None): def update(self, scan_mm, velocities=None, shouldUpdateMap=True):
if not velocities: if not velocities:
velocities = (0, 0, 0) velocities = (0, 0, 0)
CoreSLAM.update(self, scan_mm, velocities) CoreSLAM.update(self, scan_mm, velocities, shouldUpdateMap)
def _getNewPosition(self, start_position): def _getNewPosition(self, start_position):
''' '''