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Minor fix

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This commit is contained in:
Michel Breyer 2021-10-08 14:48:26 +02:00
parent 8aea48e3e9
commit 8df7118ae2
2 changed files with 5 additions and 4 deletions
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6
src/active_grasp/nbv.py
View File

@ -70,7 +70,7 @@ class NextBestView(MultiViewPolicy):
with Timer("state_update"):
self.integrate(img, x, q)
with Timer("view_generation"):
views = self.generate_views()
views = self.generate_views(q)
with Timer("ig_computation"):
gains = [self.ig_fn(v, 10) for v in views]
with Timer("cost_computation"):
@ -98,13 +98,13 @@ class NextBestView(MultiViewPolicy):
return True
return False
def generate_views(self):
def generate_views(self, q):
thetas = np.deg2rad([15, 30, 45])
phis = np.arange(6) * np.deg2rad(60)
view_candidates = []
for theta, phi in itertools.product(thetas, phis):
view = self.view_sphere.get_view(theta, phi)
if self.is_feasible(view):
if self.is_feasible(view, q):
view_candidates.append(view)
return view_candidates

3
src/active_grasp/policy.py
View File

@ -36,7 +36,8 @@ class Policy:
self.vis = Visualizer()
def is_feasible(self, view, q_init=None):
q_init = q_init if q_init else [0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79]
if q_init is None:
q_init = [0.0, -0.79, 0.0, -2.356, 0.0, 1.57, 0.79]
return self.model.ik(q_init, view) is not None
def activate(self, bbox, view_sphere):