diff --git a/mpi_sim/components/occupany_grid_mapping.py b/mpi_sim/components/occupany_grid_mapping.py index 5ce4630c8e6781b535cb4a4730eba492e303a89e..d1492bcf6b7e88732836881ff7c6191d4e45b730 100644 --- a/mpi_sim/components/occupany_grid_mapping.py +++ b/mpi_sim/components/occupany_grid_mapping.py @@ -18,8 +18,9 @@ class OccupancyGridMapping(SensorComponent): dc.depth = 5.0 # depth if local in meters dc.object_filter = None # filter for the elements that should be mapped dc.resolution = 0.05 # resolution of the maps in m per cell - dc.update_global_map_automatically = True # should the global map be automatically updated each step + dc.update_global_map_automatically = False # should the global map be automatically updated each step dc.transform = None # transform functions of the global map + dc.update_local_map_automatically = False return dc @@ -35,7 +36,7 @@ class OccupancyGridMapping(SensorComponent): if self.state.global_map is None: return None else: - return self.state.global_map.map + return self.update_global_map() @property @@ -56,7 +57,7 @@ class OccupancyGridMapping(SensorComponent): if self.state.local_map is None: return None else: - return self.state.local_map.map + return self.update_local_map() @property @@ -146,9 +147,8 @@ class OccupancyGridMapping(SensorComponent): def _step(self): - if self.config.update_global_map_automatically or not self.state.is_global_map_initialized: self.update_global_map() self.state.is_global_map_initialized = True - - self.update_local_map() + if self.config.update_local_map_automatically : + self.update_local_map() diff --git a/mpi_sim/components/raycast_sensor.py b/mpi_sim/components/raycast_sensor.py index bc4791e122c70816a2c1bc166aef0e54d58cecd8..edeee0315efad5b43b074775d733a94b373b08c6 100644 --- a/mpi_sim/components/raycast_sensor.py +++ b/mpi_sim/components/raycast_sensor.py @@ -68,7 +68,18 @@ class RayCastSensor(SensorComponent): @property def raycast_distances(self): - return self.update_raycast() + if self.update_raycast_every_step : + return np.round(self.ray_distance_list, 4) + else : + return self.update_raycast() + + @property + def raycast_angles(self): + if self.update_raycast_every_step : + return self.ray_angle_list + else : + self.update_raycast() + return self.ray_angle_list def __init__(self, config=None, **kwargs): @@ -160,7 +171,7 @@ class RayCastSensor(SensorComponent): cb_point=np.array(callback.point)+ noise, cb_normal=callback.normal, point1=self.point11, - color=b2Color(None) + color=b2Color(0.8, 0, 0.8) ) else: self.ray_distance_list.append(sim.utils.measure_center_distance(self.position, np.array(point_ray)+noise)) diff --git a/mpi_sim/utils/__init__.py b/mpi_sim/utils/__init__.py index ed8fd7e7aa2d3b9dfd566715421a595d32a0bfe6..7e7acdd70e3414a480b37257d8e12b5fbcc6d6da 100644 --- a/mpi_sim/utils/__init__.py +++ b/mpi_sim/utils/__init__.py @@ -39,4 +39,4 @@ from mpi_sim.utils.occupancy_grid_map import get_occupancy_grid_map_shape from mpi_sim.utils.occupancy_grid_map import transform_position_to_map_coordinate from mpi_sim.utils.occupancy_grid_map import transform_map_coordinate_to_position from mpi_sim.utils.occupancy_grid_map import OccupancyGridMap -from mpi_sim.utils.occupany_grid_transform import RTABMAPlikeTransform +from mpi_sim.utils.occupancy_grid_transform import RTABMAPlikeTransform diff --git a/mpi_sim/utils/occupany_grid_transform.py b/mpi_sim/utils/occupancy_grid_transform.py similarity index 100% rename from mpi_sim/utils/occupany_grid_transform.py rename to mpi_sim/utils/occupancy_grid_transform.py