full_state = {
'uav': UAVPrototype
'roombas': [RoombaPrototype1, RoombaPrototype2, RoombaPrototype3...]
'spikes': [SpikePrototype1, SpikePrototype2, SpikePrototype3...]
}
UAVPrototype = class{
def __init__(self, x, y, z):
self.position = Vector(x,y,z)
self.velocity = Vector(0,0,0)
def set_position(self, x, y, z):
self.pos.x = x
self.pos.y = y
self.pos.z = z
def set_velocity(self, x, y, z):
self.velocity.x = x
self.velocity.y = y
self.velocity.z = z
}
RoombaPrototype = class{
def __init__(self, x, y, z, theta):
self.position = Vector(x,y,z)
self.angle = theta
self.is_moving = false
self.confidence = 1
def set_position(self, x, y, z):
self.position.x = x
self.position.y = y
self.position.z = z
def set_angle(self, angle):
self.angle = angle
def set_moving(self, moving):
self.is_moving = moving
def set_confidence(self, c):
self.confidence = c
}
SpikePrototype = class{
def __init__(self, x, y, z, theta):
setPos(x,y,z)
self.angle = theta
self.is_moving = false
self.confidence = 1
def set_position(self, x, y, z):
self.position.x = x
self.position.y = y
self.position.z = z
def set_angle(self, angle):
self.angle = angle
def set_moving(self, moving):
self.is_moving = moving
def set_confidence(self, c):
self.confidence = c
} }