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Eliminate self.velocities; compute and pass to scan_update directly

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Simon D. Levy
2018-06-03 14:54:48 -04:00
parent df149435e6
commit b02d871d4d
1 changed files with 5 additions and 8 deletions
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13
python/breezyslam/algorithms.py
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@@ -80,9 +80,6 @@ class CoreSLAM(object):
# Store laser for later # Store laser for later
self.laser = laser self.laser = laser
# Initialize velocities (dxyMillimeters/dt, dthetaDegrees/dt) for scan update
self.velocities = (0, 0)
# Initialize a scan for computing distance to map, and one for updating map # Initialize a scan for computing distance to map, and one for updating map
self.scan_for_distance = pybreezyslam.Scan(laser, 1) self.scan_for_distance = pybreezyslam.Scan(laser, 1)
self.scan_for_mapbuild = pybreezyslam.Scan(laser, 3) self.scan_for_mapbuild = pybreezyslam.Scan(laser, 3)
@@ -105,11 +102,11 @@ class CoreSLAM(object):
velocity_factor = (1 / poseChange[2]) if (poseChange[2] > 0) else 0 # units => units/sec velocity_factor = (1 / poseChange[2]) if (poseChange[2] > 0) else 0 # units => units/sec
dxy_mm_dt = poseChange[0] * velocity_factor dxy_mm_dt = poseChange[0] * velocity_factor
dtheta_degrees_dt = poseChange[1] * velocity_factor dtheta_degrees_dt = poseChange[1] * velocity_factor
self.velocities = (dxy_mm_dt, dtheta_degrees_dt) velocities = (dxy_mm_dt, dtheta_degrees_dt)
# 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
self._scan_update(self.scan_for_mapbuild, scans_mm) self._scan_update(self.scan_for_mapbuild, scans_mm, velocities)
self._scan_update(self.scan_for_distance, scans_mm) self._scan_update(self.scan_for_distance, scans_mm, velocities)
# Implementing class updates map and pointcloud # Implementing class updates map and pointcloud
self._updateMapAndPointcloud(poseChange[0], poseChange[1], should_update_map) self._updateMapAndPointcloud(poseChange[0], poseChange[1], should_update_map)
@@ -139,9 +136,9 @@ class CoreSLAM(object):
return self.__str__() return self.__str__()
def _scan_update(self, scan, lidar): def _scan_update(self, scan, lidar, velocities):
scan.update(scans_mm=lidar, hole_width_mm=self.hole_width_mm, velocities=self.velocities) scan.update(scans_mm=lidar, hole_width_mm=self.hole_width_mm, velocities=velocities)
# SinglePositionSLAM class --------------------------------------------------------------------------------------------- # SinglePositionSLAM class ---------------------------------------------------------------------------------------------