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Renamed components -> sensors, robots -> vehicles

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simondlevy
2017-11-12 16:28:20 -05:00
parent a25e70d672
commit dd56c10ce7
6 changed files with 14 additions and 21 deletions
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4
examples/log2pgm.py
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@@ -11,7 +11,7 @@ For details see
author = {Bruno Steux and Oussama El Hamzaoui}, author = {Bruno Steux and Oussama El Hamzaoui},
title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code}, title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
booktitle = {11th International Conference on Control, Automation, 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}, December 2010, Proceedings},
pages = {1975-1979}, pages = {1975-1979},
publisher = {IEEE}, publisher = {IEEE},
@@ -44,8 +44,6 @@ MAP_SIZE_PIXELS = 800
MAP_SIZE_METERS = 32 MAP_SIZE_METERS = 32
from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM 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 mines import MinesLaser, Rover, load_data
from progressbar import ProgressBar from progressbar import ProgressBar

4
examples/log2png.py
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@@ -11,7 +11,7 @@ For details see
author = {Bruno Steux and Oussama El Hamzaoui}, author = {Bruno Steux and Oussama El Hamzaoui},
title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code}, title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
booktitle = {11th International Conference on Control, Automation, 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}, December 2010, Proceedings},
pages = {1975-1979}, pages = {1975-1979},
publisher = {IEEE}, publisher = {IEEE},
@@ -44,8 +44,6 @@ MAP_SIZE_PIXELS = 800
MAP_SIZE_METERS = 32 MAP_SIZE_METERS = 32
from breezyslam.algorithms import Deterministic_SLAM, RMHC_SLAM 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 mines import MinesLaser, Rover, load_data
from progressbar import ProgressBar from progressbar import ProgressBar

14
examples/mines.py
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@@ -7,7 +7,7 @@ For details see
author = {Bruno Steux and Oussama El Hamzaoui}, author = {Bruno Steux and Oussama El Hamzaoui},
title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code}, title = {CoreSLAM: a SLAM Algorithm in less than 200 lines of C code},
booktitle = {11th International Conference on Control, Automation, 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}, December 2010, Proceedings},
pages = {1975-1979}, pages = {1975-1979},
publisher = {IEEE}, 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 <http://www.gnu.org/licenses/>. along with this code. If not, see <http://www.gnu.org/licenses/>.
''' '''
from breezyslam.robots import WheeledRobot from breezyslam.vehicles import WheeledVehicle
from breezyslam.components import URG04LX from breezyslam.sensors import URG04LX
import math import math
@@ -87,21 +87,21 @@ class MinesLaser(URG04LX):
# Class for MinesRover custom robot ------------------------------------------ # Class for MinesRover custom robot ------------------------------------------
class Rover(WheeledRobot): class Rover(WheeledVehicle):
def __init__(self): def __init__(self):
WheeledRobot.__init__(self, 77, 165) WheeledVehicle.__init__(self, 77, 165)
self.ticks_per_cycle = 2000 self.ticks_per_cycle = 2000
def __str__(self): 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): 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): def extractOdometry(self, timestamp, leftWheel, rightWheel):

2
examples/urgslam.py
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@@ -24,7 +24,7 @@ MAP_SIZE_METERS = 10
LIDAR_DEVICE = '/dev/ttyACM0' LIDAR_DEVICE = '/dev/ttyACM0'
from breezyslam.algorithms import RMHC_SLAM 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 from breezylidar import URG04LX as Lidar

6
python/breezyslam/components.py → python/breezyslam/sensors.py
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@@ -1,8 +1,7 @@
''' '''
BreezySLAM: Simple, efficient SLAM in Python BreezySLAM: Simple, efficient SLAM in Python
components.py: SLAM components (Laser, Map, Position, Scan, Map), sensors.py: SLAM sensors (currently just Laser)
implemented as C extensions for efficiency.
Copyright (C) 2014 Simon D. Levy 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 <http:#www.gnu.org/licenses/>. along with this code. If not, see <http:#www.gnu.org/licenses/>.
''' '''
# These classes are implemented as C extensions
from pybreezyslam import Scan, Map, Position
class Laser(object): 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).

5
python/breezyslam/robots.py → python/breezyslam/vehicles.py
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@@ -1,7 +1,8 @@
''' '''
BreezySLAM: Simple, efficient SLAM in Python 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 Copyright (C) 2014 Suraj Bajracharya and Simon D. Levy
@@ -21,7 +22,7 @@ along with this code. If not, see <http:#www.gnu.org/licenses/>.
import math import math
class WheeledRobot(object): class WheeledVehicle(object):
''' '''
An abstract class supporting ododmetry for wheeled robots. Your implementing An abstract class supporting ododmetry for wheeled robots. Your implementing
class should provide the method: class should provide the method: