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This commit is contained in:
Ronaldson Bellande 2024-07-25 10:07:05 -04:00
parent b0e62683ac
commit c4a68ec22e
3 changed files with 185 additions and 1 deletions

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@ -17,7 +17,7 @@
import math
def calculate_distance_to_object(camera_height, tilt, hip_pitch_offset, object_size):
def calculate_distance_to(camera_height, tilt, hip_pitch_offset, object_size):
distance = camera_height * math.tan(math.pi * 0.5 + tilt - hip_pitch_offset - object_size)
return abs(distance)

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@ -58,6 +58,92 @@ class FollowerConfig:
self.curr_period_time = get_param('curr_period_time', self.curr_period_time)
self.DEBUG_PRINT = get_param('debug_print', self.DEBUG_PRINT)
def reset(self):
"""Reset all values to their initial state."""
self.__init__()
def set_fov(self, width, height):
"""Set the field of view."""
self.FOV_WIDTH = width
self.FOV_HEIGHT = height
def set_camera_height(self, height):
"""Set the camera height."""
self.CAMERA_HEIGHT = height
def set_thresholds(self, not_found_threshold):
"""Set the thresholds."""
self.NOT_FOUND_THRESHOLD = not_found_threshold
def set_step_parameters(self, max_fb, max_rl, in_place_fb, min_fb, min_rl, unit_fb, unit_rl):
"""Set the step parameters."""
self.MAX_FB_STEP = max_fb
self.MAX_RL_TURN = max_rl
self.IN_PLACE_FB_STEP = in_place_fb
self.MIN_FB_STEP = min_fb
self.MIN_RL_TURN = min_rl
self.UNIT_FB_STEP = unit_fb
self.UNIT_RL_TURN = unit_rl
def set_spot_offsets(self, fb_offset, rl_offset, angle_offset):
"""Set the spot offsets."""
self.SPOT_FB_OFFSET = fb_offset
self.SPOT_RL_OFFSET = rl_offset
self.SPOT_ANGLE_OFFSET = angle_offset
def set_hip_pitch_offset(self, offset):
"""Set the hip pitch offset."""
self.hip_pitch_offset = offset
def set_period_time(self, period_time):
"""Set the current period time."""
self.curr_period_time = period_time
def update_accum_period_time(self, delta_time):
"""Update the accumulated period time."""
self.accum_period_time += delta_time
if self.accum_period_time > (self.curr_period_time / 4):
self.accum_period_time = 0.0
return self.accum_period_time
def reset_accum_period_time(self):
"""Reset the accumulated period time."""
self.accum_period_time = 0.0
def set_debug_print(self, debug_print):
"""Set the debug print flag."""
self.DEBUG_PRINT = debug_print
def get_config_dict(self):
"""Return a dictionary of all configuration parameters."""
return {
'FOV_WIDTH': self.FOV_WIDTH,
'FOV_HEIGHT': self.FOV_HEIGHT,
'CAMERA_HEIGHT': self.CAMERA_HEIGHT,
'NOT_FOUND_THRESHOLD': self.NOT_FOUND_THRESHOLD,
'MAX_FB_STEP': self.MAX_FB_STEP,
'MAX_RL_TURN': self.MAX_RL_TURN,
'IN_PLACE_FB_STEP': self.IN_PLACE_FB_STEP,
'MIN_FB_STEP': self.MIN_FB_STEP,
'MIN_RL_TURN': self.MIN_RL_TURN,
'UNIT_FB_STEP': self.UNIT_FB_STEP,
'UNIT_RL_TURN': self.UNIT_RL_TURN,
'SPOT_FB_OFFSET': self.SPOT_FB_OFFSET,
'SPOT_RL_OFFSET': self.SPOT_RL_OFFSET,
'SPOT_ANGLE_OFFSET': self.SPOT_ANGLE_OFFSET,
'hip_pitch_offset': self.hip_pitch_offset,
'curr_period_time': self.curr_period_time,
'accum_period_time': self.accum_period_time,
'DEBUG_PRINT': self.DEBUG_PRINT
}
def load_config_dict(self, config_dict):
"""Load configuration from a dictionary."""
for key, value in config_dict.items():
if hasattr(self, key):
setattr(self, key, value)
class FollowerInitializeConfig:
def __init__(self):

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@ -40,6 +40,104 @@ class TrackerConfig:
self.i_gain = get_param('i_gain', self.i_gain)
self.d_gain = get_param('d_gain', self.d_gain)
def reset(self):
"""Reset all values to their initial state."""
self.__init__()
def set_fov(self, width, height):
"""Set the field of view."""
self.FOV_WIDTH = width
self.FOV_HEIGHT = height
def set_thresholds(self, not_found_threshold, waiting_threshold):
"""Set the thresholds."""
self.NOT_FOUND_THRESHOLD = not_found_threshold
self.WAITING_THRESHOLD = waiting_threshold
def set_use_head_scan(self, use_head_scan):
"""Set whether to use head scan."""
self.use_head_scan = use_head_scan
def set_debug_print(self, debug_print):
"""Set the debug print flag."""
self.DEBUG_PRINT = debug_print
def set_pid_gains(self, p_gain, i_gain, d_gain):
"""Set the PID gains."""
self.p_gain = p_gain
self.i_gain = i_gain
self.d_gain = d_gain
def get_pid_gains(self):
"""Get the PID gains."""
return self.p_gain, self.i_gain, self.d_gain
def adjust_pid_gains(self, p_adjust=0, i_adjust=0, d_adjust=0):
"""Adjust the PID gains by the given amounts."""
self.p_gain += p_adjust
self.i_gain += i_adjust
self.d_gain += d_adjust
def get_config_dict(self):
"""Return a dictionary of all configuration parameters."""
return {
'FOV_WIDTH': self.FOV_WIDTH,
'FOV_HEIGHT': self.FOV_HEIGHT,
'NOT_FOUND_THRESHOLD': self.NOT_FOUND_THRESHOLD,
'WAITING_THRESHOLD': self.WAITING_THRESHOLD,
'use_head_scan': self.use_head_scan,
'DEBUG_PRINT': self.DEBUG_PRINT,
'p_gain': self.p_gain,
'i_gain': self.i_gain,
'd_gain': self.d_gain
}
def load_config_dict(self, config_dict):
"""Load configuration from a dictionary."""
for key, value in config_dict.items():
if hasattr(self, key):
setattr(self, key, value)
def validate_config(self):
"""Validate the configuration parameters."""
assert 0 < self.FOV_WIDTH < math.pi, "FOV_WIDTH must be between 0 and pi"
assert 0 < self.FOV_HEIGHT < math.pi, "FOV_HEIGHT must be between 0 and pi"
assert self.NOT_FOUND_THRESHOLD > 0, "NOT_FOUND_THRESHOLD must be positive"
assert self.WAITING_THRESHOLD > 0, "WAITING_THRESHOLD must be positive"
assert isinstance(self.use_head_scan, bool), "use_head_scan must be a boolean"
assert isinstance(self.DEBUG_PRINT, bool), "DEBUG_PRINT must be a boolean"
assert self.p_gain >= 0, "p_gain must be non-negative"
assert self.i_gain >= 0, "i_gain must be non-negative"
assert self.d_gain >= 0, "d_gain must be non-negative"
def print_config(self):
"""Print the current configuration."""
for key, value in self.get_config_dict().items():
print(f"{key}: {value}")
def to_ros_param(self):
"""Convert the configuration to a format suitable for ROS parameters."""
return {
'tracker': {
'fov': {
'width': self.FOV_WIDTH,
'height': self.FOV_HEIGHT
},
'thresholds': {
'not_found': self.NOT_FOUND_THRESHOLD,
'waiting': self.WAITING_THRESHOLD
},
'use_head_scan': self.use_head_scan,
'debug_print': self.DEBUG_PRINT,
'pid': {
'p': self.p_gain,
'i': self.i_gain,
'd': self.d_gain
}
}
}
class TrackerInitializeConfig:
def __init__(self):