From dd56c10ce7f51c7c737fe5b265b4652a58ec4bdd Mon Sep 17 00:00:00 2001 From: simondlevy Date: Sun, 12 Nov 2017 16:28:20 -0500 Subject: [PATCH] Renamed components -> sensors, robots -> vehicles --- examples/log2pgm.py | 4 +--- examples/log2png.py | 4 +--- examples/mines.py | 14 +++++++------- examples/urgslam.py | 2 +- python/breezyslam/{components.py => sensors.py} | 6 +----- python/breezyslam/{robots.py => vehicles.py} | 5 +++-- 6 files changed, 14 insertions(+), 21 deletions(-) rename python/breezyslam/{components.py => sensors.py} (91%) rename python/breezyslam/{robots.py => vehicles.py} (96%) diff --git a/examples/log2pgm.py b/examples/log2pgm.py index 1128494..6638327 100755 --- a/examples/log2pgm.py +++ b/examples/log2pgm.py @@ -11,7 +11,7 @@ For details see author = {Bruno Steux and Oussama El Hamzaoui}, title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code}, booktitle = {11th International Conference on Control, Automation, - Robotics and Vision, ICARCV 2010, Singapore, 7-10 + Vehicleics and Vision, ICARCV 2010, Singapore, 7-10 December 2010, Proceedings}, pages = {1975-1979}, publisher = {IEEE}, @@ -44,8 +44,6 @@ MAP_SIZE_PIXELS = 800 MAP_SIZE_METERS = 32 from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM -from breezyslam.components import Laser -from breezyslam.robots import WheeledRobot from mines import MinesLaser, Rover, load_data from progressbar import ProgressBar diff --git a/examples/log2png.py b/examples/log2png.py index 580b9e1..c9f0058 100755 --- a/examples/log2png.py +++ b/examples/log2png.py @@ -11,7 +11,7 @@ For details see author = {Bruno Steux and Oussama El Hamzaoui}, title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code}, booktitle = {11th International Conference on Control, Automation, - Robotics and Vision, ICARCV 2010, Singapore, 7-10 + Vehicleics and Vision, ICARCV 2010, Singapore, 7-10 December 2010, Proceedings}, pages = {1975-1979}, publisher = {IEEE}, @@ -44,8 +44,6 @@ MAP_SIZE_PIXELS = 800 MAP_SIZE_METERS = 32 from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM -from breezyslam.components import Laser -from breezyslam.robots import WheeledRobot from mines import MinesLaser, Rover, load_data from progressbar import ProgressBar diff --git a/examples/mines.py b/examples/mines.py index a17f5da..69bc59d 100644 --- a/examples/mines.py +++ b/examples/mines.py @@ -7,7 +7,7 @@ For details see author = {Bruno Steux and Oussama El Hamzaoui}, title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code}, booktitle = {11th International Conference on Control, Automation, - Robotics and Vision, ICARCV 2010, Singapore, 7-10 + Vehicleics and Vision, ICARCV 2010, Singapore, 7-10 December 2010, Proceedings}, pages = {1975-1979}, publisher = {IEEE}, @@ -30,8 +30,8 @@ You should have received a copy of the GNU Lesser General Public License along with this code. If not, see . ''' -from breezyslam.robots import WheeledRobot -from breezyslam.components import URG04LX +from breezyslam.vehicles import WheeledVehicle +from breezyslam.sensors import URG04LX import math @@ -87,21 +87,21 @@ class MinesLaser(URG04LX): # Class for MinesRover custom robot ------------------------------------------ -class Rover(WheeledRobot): +class Rover(WheeledVehicle): def __init__(self): - WheeledRobot.__init__(self, 77, 165) + WheeledVehicle.__init__(self, 77, 165) self.ticks_per_cycle = 2000 def __str__(self): - return '<%s ticks_per_cycle=%d>' % (WheeledRobot.__str__(self), self.ticks_per_cycle) + return '<%s ticks_per_cycle=%d>' % (WheeledVehicle.__str__(self), self.ticks_per_cycle) def computeVelocities(self, odometry): - return WheeledRobot.computeVelocities(self, odometry[0], odometry[1], odometry[2]) + return WheeledVehicle.computeVelocities(self, odometry[0], odometry[1], odometry[2]) def extractOdometry(self, timestamp, leftWheel, rightWheel): diff --git a/examples/urgslam.py b/examples/urgslam.py index 7df47e3..892e2c0 100755 --- a/examples/urgslam.py +++ b/examples/urgslam.py @@ -24,7 +24,7 @@ MAP_SIZE_METERS = 10 LIDAR_DEVICE = '/dev/ttyACM0' from breezyslam.algorithms import RMHC_SLAM -from breezyslam.components import URG04LX as LaserModel +from breezyslam.sensors import URG04LX as LaserModel from breezylidar import URG04LX as Lidar diff --git a/python/breezyslam/components.py b/python/breezyslam/sensors.py similarity index 91% rename from python/breezyslam/components.py rename to python/breezyslam/sensors.py index 3ec9a54..4d7038f 100644 --- a/python/breezyslam/components.py +++ b/python/breezyslam/sensors.py @@ -1,8 +1,7 @@ ''' BreezySLAM: Simple, efficient SLAM in Python -components.py: SLAM components (Laser, Map, Position, Scan, Map), -implemented as C extensions for efficiency. +sensors.py: SLAM sensors (currently just Laser) Copyright (C) 2014 Simon D. Levy @@ -20,9 +19,6 @@ You should have received a copy of the GNU Lesser General Public License along with this code. If not, see . ''' -# These classes are implemented as C extensions -from pybreezyslam import Scan, Map, Position - class Laser(object): ''' A class representing the specifications of a scanning laser rangefinder (Lidar). diff --git a/python/breezyslam/robots.py b/python/breezyslam/vehicles.py similarity index 96% rename from python/breezyslam/robots.py rename to python/breezyslam/vehicles.py index c7e2942..878c80e 100644 --- a/python/breezyslam/robots.py +++ b/python/breezyslam/vehicles.py @@ -1,7 +1,8 @@ ''' BreezySLAM: Simple, efficient SLAM in Python -robots.py: odometry models for different kinds of robots +vehicles.py: odometry models for different kinds of vehicles +(currently just wheeled vehicles) Copyright (C) 2014 Suraj Bajracharya and Simon D. Levy @@ -21,7 +22,7 @@ along with this code. If not, see . import math -class WheeledRobot(object): +class WheeledVehicle(object): ''' An abstract class supporting ododmetry for wheeled robots. Your implementing class should provide the method: