modif mapping with imported map

mpi_sim/components/occupany_grid_mapping.py

@@ -24,6 +24,7 @@ class OccupancyGridMapping(SensorComponent):
         dc.imported_global_map_path = False # Import Global map - path
         dc.imported_global_map_resolution = False  # Import Global map - resolution
         dc.imported_global_map_area = False # Import Global map - area (can either be a tuple of a function is the area is not squared)
+        dc.imported_global_map_px_coord_center = None
         return dc
 
 
@@ -103,7 +104,7 @@ class OccupancyGridMapping(SensorComponent):
             self._global_map_area = self.config.imported_global_map_area
             self.state.is_global_map_initialized = True #The global map is initialized and doesn't need to be updated 
 
-            if isinstance(self.config.import_global_map, str):
+            if isinstance(self.config.imported_global_map_path, str):
 
                 imported_global_map = np.load(file=self.config.imported_global_map_path)
                 self.state.global_map = mpi_sim.utils.OccupancyGridMap(
@@ -115,7 +116,7 @@ class OccupancyGridMapping(SensorComponent):
                 self._global_map_shape = np.shape(imported_global_map)
 
             else :
-                raise UserWarning('The parameter \'import_global_map\' should be a type str but it is {}'.format(type(self.config.import_global_map)))
+                raise UserWarning('The parameter \'imported_global_map_path\' should be a type str but it is {}'.format(type(self.config.imported_global_map_path)))
 
         self._local_map_area = ((-self.config.depth, self.config.depth), (-self.config.depth, self.config.depth))
         local_map_length = int((self.config.depth / self._resolution) * 2)
@@ -144,28 +145,49 @@ class OccupancyGridMapping(SensorComponent):
 
 
     def update_global_map(self):
-        self.state.global_map = mpi_sim.utils.create_occupancy_grid_map(
-            self.simulation,
-            area=self._global_map_area,
-            resolution=self._resolution,
-            object_filter=self.config.object_filter,
-            transform=self.config.transform
-        )
+        if not self.config.imported_global_map_path :
+            self.state.global_map = mpi_sim.utils.create_occupancy_grid_map(
+                self.simulation,
+                area=self._global_map_area,
+                resolution=self._resolution,
+                object_filter=self.config.object_filter,
+                transform=self.config.transform
+            )
+        else :
+            imported_global_map = np.load(file=self.config.imported_global_map_path)
+            self.state.global_map = mpi_sim.utils.OccupancyGridMap(
+                map=imported_global_map,
+                area=self._global_map_area,
+                resolution=self._resolution
+            )
 
         return self.state.global_map.map
 
 
     def update_local_map(self):
-
         if self.state.global_map is None:
             self.update_global_map()
+        if not self.config.imported_global_map_path :
 
-        self.state.local_map = mpi_sim.utils.create_local_perspective_occupancy_grid_map(
-            global_map=self.state.global_map,
-            position=self.object.position,
-            orientation=constraint_angle(self.object.orientation),
-            depth=self.config.depth,
-        )
+            self.state.local_map = mpi_sim.utils.create_local_perspective_occupancy_grid_map(
+                global_map=self.state.global_map,
+                position=self.object.position,
+                orientation=constraint_angle(self.object.orientation),
+                depth=self.config.depth,
+            )
+        else :
+            # Same but we need to relocate the position from the center of the imported room
+            coord_of_imported_map_center =  mpi_sim.utils.transform_map_coordinate_to_position(
+                                                                                        map_coordinate=self.config.imported_global_map_px_coord_center, 
+                                                                                        map_area=self.config.imported_global_map_area, 
+                                                                                        map_resolution=self.config.imported_global_map_resolution
+                                                                                        )
+            self.state.local_map = mpi_sim.utils.create_local_perspective_occupancy_grid_map(
+                global_map=self.state.global_map,
+                position=self.object.position + coord_of_imported_map_center,
+                orientation=constraint_angle(self.object.orientation),
+                depth=self.config.depth,
+            )
 
         return self.state.local_map.map