Module sonarDist

Useful constants and utilities for dealing with sonar readings in soar.

Functions

getDistanceRight(sonarValues)
Returns: the perpendicular distance to a surface on the right of the robot, assuming there is a linear surface.

getDistanceRightAndAngle(sonarValues)
Returns: (d, a) where, d is the perpendicular distance to a surface on the right of the robot, assuming there is a linear surface; and a is the angle to that surface.

sonarHit(distance, sonarPose, robotPose)
Returns: util.Point representing position of the sonar hit in the global frame.

distAndAngle(h0, h1)

line(h0, h1)

Variables
	sonarPoses = `[pose:(0.080000, 0.134000, 1.570796), pose:(0.122...` Positions and orientations of sonar sensors with respect to the center of the robot.
	sonarMax = `1.5` Maximum good sonar reading.
	__package__ = `None`

Function Details

getDistanceRight(sonarValues)

Parameters:

sonarValues - list of 8 sonar readings

Returns:

the perpendicular distance to a surface on the right of the robot, assuming there is a linear surface.

getDistanceRightAndAngle(sonarValues)

Parameters:

sonarValues - list of 8 sonar readings

Returns:

(d, a) where, d is the perpendicular distance to a surface on the right of the robot, assuming there is a linear surface; and a is the angle to that surface.

Change to use sonarHit, or at least point and pose transforms.

sonarHit(distance, sonarPose, robotPose)

Parameters:

distance - distance along ray that the sonar hit something
sonarPose - util.Pose of the sonar on the robot
robotPose - util.Pose of the robot in the global frame

Returns:

util.Point representing position of the sonar hit in the global frame.

Variables Details

sonarPoses

Positions and orientations of sonar sensors with respect to the center of the robot.

Value:

[pose:(0.080000, 0.134000, 1.570796),
 pose:(0.122000, 0.118000, 0.872665),
 pose:(0.156000, 0.077000, 0.523599),
 pose:(0.174000, 0.026600, 0.174533),
 pose:(0.174000, -0.026600, -0.174533),
 pose:(0.156000, -0.077000, -0.523599),
 pose:(0.122000, -0.118000, -0.872665),
 pose:(0.080000, -0.134000, -1.570796)]