Utility module

boat_nav/src/layline_action.py

@@ -59,6 +59,7 @@ def compass_callback(self, compass):
 		self.compass = compass.data
 		self.update_apparent_wind()
 
+
 	def update_apparent_wind(self):
 		self.apparent_wind_heading = angles.normalize(self.ane_reading + self.compass)
 		self.wind_coming =  angles.opposite(self.apparent_wind_heading)

boat_nav/src/path_planners/long.py

@@ -8,24 +8,24 @@ class LongPlanner(Planner):
 	"""Simple Planner implementation that traverses the waypoints in waypoints_raw,
 	but does not destroy achieved waypoints, allowing infinite looping.
 	"""
-	
+
 	@overrides
 	def setup(self):
 		if len(self.waypoints) is 0:
 			rospy.loginfo(rospy.get_caller_id() + " No points to nav")
 			self.set_minor_state(BoatState.MIN_COMPLETE)
 			return
-		
+
 		self.publish_target(self.waypoints[0])
 		self.set_minor_state(BoatState.MIN_PLANNING)
-	
-	
+
+
 	@overrides
 	def planner(self):
-		
+
 		# If we've reached a waypoint, add it to the end of the list to continue looping forever
-		if len(self.waypoints) > 0 and self.boat_reached_target():
+		if len(self.waypoints) > 0 and self._boat_reached_target():
 			self.waypoints.append(self.waypoints[0])
-		
+
 		# Run the default traverse_waypoints planner
-		self.traverse_waypoints_planner();
+		self._traverse_waypoints_planner()

boat_nav/src/path_planners/nav.py

@@ -6,20 +6,20 @@
 
 class NavPlanner(Planner):
 	"""Simple Planner implementation that traverses the waypoints in waypoints_raw once each."""
-	
+
 	@overrides
 	def setup(self):
 		if len(self.waypoints) is 0:
 			rospy.loginfo(rospy.get_caller_id() + " No points to nav")
 			self.set_minor_state(BoatState.MIN_COMPLETE)
 			return
-		
+
 		self.publish_target(self.waypoints[0])
 		self.set_minor_state(BoatState.MIN_PLANNING)
-	
-	
+
+
 	@overrides
 	def planner(self):
-		
+
 		# Run the default traverse_waypoints planner
-		self.traverse_waypoints_planner();
+		self._traverse_waypoints_planner()

boat_nav/src/path_planners/planner_base.py

@@ -70,15 +70,15 @@ def planner(self):
 		NotImplementedError("Class %s doesn't implement planner()" % (self.__class__.__name__))
 
 
-	def traverse_waypoints_planner(self):
+	def _traverse_waypoints_planner(self):
 		"""Navigate through the waypoints on the waypoints_raw topic sequentially."""
 		waypoints = self.waypoints
 
 		# If the list of waypoints is not empty
 		if len(waypoints) > 0:
 
 			# If the boat is close enough to the waypoint, start navigating towards the next waypoint in the path
-			if self.boat_reached_target():
+			if self._boat_reached_target():
 				rospy.loginfo(rospy.get_caller_id() + " Reached intermediate waypoint (lat: %.2f, long: %.2f)", waypoints[0].pt.y, waypoints[0].pt.x)
 
 				del waypoints[0]
@@ -112,10 +112,7 @@ def _compass_callback(compass):
 
 	@staticmethod
 	def set_minor_state(minor):
-		"""Set the minor state of the BoatState.
-
-		@param minor: The state to set
-		"""
+		"""Set the minor state of the BoatState."""
 		Planner.state.minor = minor
 		_boat_state_pub.publish(Planner.state)
 
@@ -126,10 +123,7 @@ def clear_waypoints():
 
 	@staticmethod
 	def update_waypoints(new_pts):
-		"""Set and publish the specified waypoints.
-
-		@param new_pts: The waypoints to set
-		"""
+		"""Set and publish the specified waypoints."""
 		Planner.waypoints = new_pts
 		_waypoints_pub.publish(Planner.waypoints)
 
@@ -186,7 +180,7 @@ def _calc_wind_coming():
 		Planner.wind_coming = angles.opposite(Planner.new_wind_heading)
 
 
-	def boat_reached_target(self):
+	def _boat_reached_target(self):
 		"""Determine if the boat is within BUOY_TOL meters of the target_waypoint.
 
 		@return True if the boat is within the tolerance

boat_nav/src/path_planners/search.py

@@ -61,7 +61,7 @@ def planner(self):
 		if self.vision_target is ():
 
 			if len(self.waypoints) > 0:
-				self.traverse_waypoints_planner()
+				self._traverse_waypoints_planner()
 
 			# If we ran through all the waypoints set without finding anything, restart the planner
 			else:
@@ -72,7 +72,7 @@ def planner(self):
 			self.publish_target(Waypoint(self.vision_target, Waypoint.TYPE_INTERSECT))
 
 			#Once we intercept the vision target, publish and complete
-			if self.boat_reached_target(): #TODO: Add additional 'complete' criteria to ensure contact
+			if self._boat_reached_target(): #TODO: Add additional 'complete' criteria to ensure contact
 				self.found_pub.publish(True)
 				self.set_minor_state(BoatState.MIN_COMPLETE) #TODO: Add MIN_SHUTDOWN??