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RangeBearingSensor: line_style and poly_style are accepted but unused; animate the sensing beam and region

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#753 0 comentarios 0 reacciones 0 asignados Ver en GitHub

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Evaluación

Dificultad
3/5
Tiempo estimado
1-2 días
Aptitud para principiantes
58/100
Tipo de issue
Nueva funcionalidad
Claridad
Bastante claro
Estado de actividad
Activo
Stack tecnológico
matplotlib, python
Área
data-visualization

Línea de trabajo

Start in sensors.py: the _line_style and _poly_style attributes are set in RangeBearingSensor.__init__, and plot() currently draws only the robot-to-landmark line. Read reading() to see where the robot's pose and the sensor's range and angle are available, then add a sector polygon and a beam line that are drawn or updated on each call using those styles. Done means the Agg-backend test shows both artists exist and change position after the robot moves, and the class docstring note from #750 is removed.

Escrito por el modelo de indexación a partir del texto del issue.

Descripción

tech-debt

RangeBearingSensor.__init__ accepts line_style and poly_style and stores them as _line_style and _poly_style, but nothing reads them. They were meant to style the sensor beam and the sensing region polygon, which should be drawn and updated every time reading() is called, based on the robot's current configuration (the toolbox's MATLAB ancestor did this).

At present plot=True only displays the map and draws a line from the robot to the landmark observed (sensors.py, plot()); the range limit and the angular field of view are never shown.

  • draw the sensing region (the sector between range and angle) as a polygon in poly_style, updated at each reading
  • draw the beam to the observed landmark in line_style
  • test with the Agg backend that the artists exist and move
  • remove the "accepted but not currently used" note from the class docstring (added in #750)

Deliberately left as is for now; this is the planned future work on animating the beam.

🤖 Generated with Claude Code

Lenguaje dominante
C++
Estrellas
3.5k
Forks
639
Merge medio
2 d 14 h
PR fusionados (30 d)
65

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