From 5039808c1c648f3aedf81e9e5fc2762d38c4d171 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 30 Apr 2009 23:59:34 +0200 Subject: * digital/io/tools, host/simu: - added distance sensors and obstacles. --- host/simu/view/distance_sensor.py | 52 +++++++++++++++++++++++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 host/simu/view/distance_sensor.py (limited to 'host/simu/view/distance_sensor.py') diff --git a/host/simu/view/distance_sensor.py b/host/simu/view/distance_sensor.py new file mode 100644 index 00000000..3fa7dbac --- /dev/null +++ b/host/simu/view/distance_sensor.py @@ -0,0 +1,52 @@ +# 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 simu.inter.drawable import Drawable +from math import sin, cos + +class DistanceSensor (Drawable): + + def __init__ (self, onto, model): + Drawable.__init__ (self, onto) + self.model = model + self.model.register (self.__notified) + self.__notified () + + def __notified (self): + self.distance = self.model.distance + self.update () + + def draw (self): + self.reset () + if self.distance is None: + self.draw_line (self.model.pos, self.model.target, fill = 'blue', + arrow = 'last') + else: + inter = (self.model.pos[0] + cos (self.model.angle) * self.distance, + self.model.pos[1] + sin (self.model.angle) * self.distance) + self.draw_line (self.model.pos, inter, fill = 'red', + arrow = 'last') + self.draw_line (inter, self.model.target, fill = 'blue', + arrow = 'last') + Drawable.draw (self) -- cgit v1.2.3