unified_frameworks package

Subpackages

• unified_frameworks.bridge package
  • Submodules
  • unified_frameworks.bridge.client_side module
    • blocking_start_client()
    • bridge_is_up()
    • close_bridge()
    • create_connections()
    • open_bridge()
    • sync_path()
  • unified_frameworks.bridge.exceptions module
    • NoOpenBridgeException
  • unified_frameworks.bridge.rover_side module
    • blocking_start_server()
    • bridge_is_up()
    • send_data()
    • start_server()
    • value_changed()
  • Module contents
• unified_frameworks.pathfinders package
  • Submodules
  • unified_frameworks.pathfinders.NavigatorClass module
    • Navigator
      • Navigator.distance_to_target()
      • Navigator.get_goal()
      • Navigator.get_path()
      • Navigator.get_tree_links()
      • Navigator.set_goal()
      • Navigator.set_gps_goal()
      • Navigator.start_pathfinder_service()
      • Navigator.stop_pathfinder_service()
  • unified_frameworks.pathfinders.a_star_navigator module
    • A_Star_Navigator
      • A_Star_Navigator.get_path()
      • A_Star_Navigator.get_tree_links()
      • A_Star_Navigator.name
      • A_Star_Navigator.start_pathfinder_service()
      • A_Star_Navigator.stop_pathfinder_service()
  • unified_frameworks.pathfinders.pathfinder module
    • Pathfinder
      • Pathfinder.PATHFINDERS
      • Pathfinder.distance_to_target()
      • Pathfinder.get_goal()
      • Pathfinder.get_path()
      • Pathfinder.get_tree_links()
      • Pathfinder.set_goal()
      • Pathfinder.start_pathfinder_service()
      • Pathfinder.stop_pathfinder_service()
  • unified_frameworks.pathfinders.rapid_random_tree module
    • RRT_Navigator
      • RRT_Navigator.get_path()
      • RRT_Navigator.get_tree_links()
      • RRT_Navigator.start_pathfinder_service()
      • RRT_Navigator.stop_pathfinder_service()
    • exploration_step()
    • grow_tree()
  • unified_frameworks.pathfinders.straight_shot module
    • StraightShot
      • StraightShot.get_path()
      • StraightShot.get_tree_links()
      • StraightShot.start_pathfinder_service()
      • StraightShot.stop_pathfinder_service()
  • Module contents
• unified_frameworks.sensor_array package
  • Subpackages
    • unified_frameworks.sensor_array.gps_compass package
      • Submodules
      • unified_frameworks.sensor_array.gps_compass.actual_gps_compass module
      • unified_frameworks.sensor_array.gps_compass.fake_gps_compass module
      • unified_frameworks.sensor_array.gps_compass.gps_compass module
      • unified_frameworks.sensor_array.gps_compass.gps_compass_class module
      • unified_frameworks.sensor_array.gps_compass.wireless_gps_compass module
      • Module contents
    • unified_frameworks.sensor_array.lidar package
      • Submodules
      • unified_frameworks.sensor_array.lidar.LidarClass module
      • unified_frameworks.sensor_array.lidar.actual_lidar module
      • unified_frameworks.sensor_array.lidar.bridge_lidar module
      • unified_frameworks.sensor_array.lidar.fake_lidar module
      • unified_frameworks.sensor_array.lidar.lidar module
      • unified_frameworks.sensor_array.lidar.lidar_visualizer module
      • Module contents
  • Submodules
  • unified_frameworks.sensor_array.actual_gps_test module
  • unified_frameworks.sensor_array.bridge_gps module
  • unified_frameworks.sensor_array.server_gps module
  • Module contents

Submodules

unified_frameworks.captain module

This script is responsible for taking in the path from pathfinder and determining a command to send to the rover

class unified_frameworks.captain.Captain(gps_targets: List[Tuple[float, float]], get_target_speed: Callable[[], float])

Bases: Service

at_coordinate_function()

Function to run when at a GPS coordinate. Currently a stub, but should eventually be a function that navigates to the aruco tag at a GPS coordinate.

captain_act()

captain_stop()

run_captain(is_captain_running: Callable[[], bool])

unified_frameworks.pathfinder_visualizer module

unified_frameworks.pathfinder_visualizer.run_visualizer(get_pathfinder, on_hover_mouse=<function <lambda>>)

unified_frameworks.pathfinder_visualizer.show_visual(get_pathfinder)

unified_frameworks.unified_utils module

File to hold helpful util functions/classes

class unified_frameworks.unified_utils.Service(service_func, name)

Bases: _Abstract_Service

is_running()

start_service()

stop_service()

unified_frameworks.unified_utils.cart_to_polar(*args, **kwargs)

unified_frameworks.unified_utils.keep_track(is_active)

unified_frameworks.unified_utils.polar_dis(*args, **kwargs)

unified_frameworks.unified_utils.polar_sum(*args, **kwargs)

unified_frameworks.unified_utils.polar_to_cart(*args, **kwargs)

unified_frameworks.unified_utils.printLog(TAG, log)

unified_frameworks.unified_utils.same_polar_point(*args, **kwargs)

unified_frameworks.unified_utils.three_point_deviation(*args, **kwargs)

unified_frameworks.unified_utils.track_time(func: callable)

unified_frameworks.worldview module

This code is responsible for reading in all sensory inputs and unifying them into a single worldview for everything else to access

class unified_frameworks.worldview.Worldview

Bases: _Abstract_Service

geographic_coordinates_to_relative_coordinates(target_latitude: float, target_longitude: float) → Tuple[float, float]

get_obstacles()

Get a list of obstacles where each obstacle is a point cloud of the obstacle

get_points()

Get a point cloud of the environment. The point cloud is a list of (radians, meters)

get_rover_body()

Get the coordinates of the rovers body

start_service()

Start sensors and start unifying data from all sensors

stop_service()

Stop unifying data and stop all sensors

unified_frameworks.worldview_visualizer module

Module contents