# simu - Robot simulation. {{{ # # Copyright (C) 2009 Nicolas Schodet # # APBTeam: # Web: http://apbteam.org/ # Email: team AT apbteam DOT org # # This program is free software; you can redistribute it and/or modify # it under the terms of the GNU General Public License as published by # the Free Software Foundation; either version 2 of the License, or # (at your option) any later version. # # This program is distributed in the hope that it will be useful, # but WITHOUT ANY WARRANTY; without even the implied warranty of # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the # GNU General Public License for more details. # # You should have received a copy of the GNU General Public License # along with this program; if not, write to the Free Software # Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. # # }}} """Generic distance sensor model.""" from math import cos, sin from simu.utils.trans_matrix import TransMatrix class DistanceSensor: def __init__ (self, table, pos, angle, range, into = None, level = 0): self.table = table self.pos = pos self.angle = angle self.range = range self.target = (pos[0] + cos (angle) * range, pos[1] + sin (angle) * range) self.into = into or () self.level = level self.distance = None def evaluate (self): # Transform in the table base. pos, target = self.pos, self.target m = TransMatrix () for i in self.into: if i.pos is None: self.distance = None return m.rotate (i.angle) m.translate (i.pos) pos, target = m.apply (pos, target) # Find intersection. i = self.table.intersect (pos, target, level = self.level, comp = lambda a, b: a < b) if i is not None: self.distance = i.distance else: self.distance = None if __name__ == '__main__': from simu.model.table import Table from simu.model.round_obstacle import RoundObstacle from math import pi t = Table () ro1 = RoundObstacle (0.5) ro1.pos = (0, 0) t.obstacles.append (ro1) ro2 = RoundObstacle (1) ro2.pos = (1, 0) t.obstacles.append (ro2) ds = DistanceSensor (t, (-1, 0), 0, 1) ds.evaluate () assert ds.distance == 0.5 ds = DistanceSensor (t, (-1, -1), 0, 1) ds.evaluate () assert ds.distance is None ds = DistanceSensor (t, (3, 0), pi, 3) ds.evaluate () assert ds.distance == 1.0