Workspace_partitioner

Partition a given workspace to laser adapted regions

Defining Workspace

The workspace is defined in a json file which contains all Lines, vertices and obstacles defined as follows:

Lines

"Line":
      {
        "x1": 0.0,
        "y1": 0.0,
        "x2": 2.5,
        "y2": 0.0,
        "orientation": "H",
        "index": 0
      }

where (x,y) are the coordinates of the two end points of the line and orientation is ether H, V or I(inclined)

Vertices

"vertex":
      {
        "L1": 0,
        "L2": 4,
        "x": 0.0, 
        "y": 0.0, 
        "angle_lb": 0.0, 
        "angle_ub": 90.0
      }
      

A vertex is an intersection of two lines with indices L1 and L2, a point of intersection (x,y), and a lower and upper bounds on the angle (facing the free space) between the two lines.

Obstacles

"obstacle":
      {
        "vertices":[
          [0,3.5],[0,6],[4,6],[2.5,3.5]
        ]
      }

Obstacle is defined as a set of vertices.

Running the partition algorithm

python state_machine $NUM_VERTICES $NUM_LASERS

TODO:

Wrap partitioner into a class