Updated physics engine to use wind sensor #429
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Update the BOAT_PROPERTIES instance to include mass and inertia values. Replaced second and third parameters in the initialization of self.__boat_state with BOAT_PROPERTIES.
… engine node. - Added a new private method: `__update_wind_sensor()`. This method updates the `wind` attribute of the `WindSensor` instance using the wind generator (`self.__wind_generator`). - Integrated `__update_wind_sensor()` call right before `self.__update_boat_state()` in the `__publish()` function. - Modified the `self.__update_boat_state()` method to use data from the `WindSensor` instead of the wind generator, introducing realistic noise into the simulation. - Resolves #426
chrischang5
reviewed
Aug 29, 2024
| def __update_wind_sensor(self): | ||
| """Updates the wind sensor with the latest wind data from the wind generator.""" | ||
| wind_data = self.__wind_generator.next() | ||
| self.__wind_sensor.speed.speed = wind_data[0] |
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I just happened to stumble upon this. You shouldn't have to assign the private members in this way. The update method is there to help you out, and you get additional functionality with noise/delays if you want. Try self.update(wind=wind_data[0])?
See the wind sensor tests for an example of this type of call.
| """Updates the wind sensor with the latest wind data from the wind generator.""" | ||
| wind_data = self.__wind_generator.next() | ||
| self.__wind_sensor.speed.speed = wind_data[0] | ||
| self.__wind_sensor.direction = wind_data[1] |
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direction doesn't look like a field in the WindSensor class, you'll have to add it by following the pattern of other fields in these classes (ex: wind field)
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Issue with be addressed in a separate PR |
eomielan
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user/arynrosh/update-physics-eng-to-use-wind-sensor-426
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WindSensorclass in the physics engine node.__update_wind_sensor(). This method updates thewindattribute of theWindSensorinstance using the wind generator (self.__wind_generator).__update_wind_sensor()call right beforeself.__update_boat_state()in the__publish()function.self.__update_boat_state()method to use data from theWindSensorinstead of the wind generator, introducing realistic noise into the simulation.