RangeBearingSensor: line_style and poly_style are accepted but unused; animate the sensing beam and region
维护者通常 2 天内回复
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评估
- 难度
- 3/5
- 预计耗时
- 1-2 天
- 新手友好度
- 58/100
- Issue 类型
- 功能
- 描述清晰度
- 基本清楚
- 活跃度
- 活跃
- 技术栈
- matplotlib, python
调研方向
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.
由索引模型根据 Issue 内容生成。
描述
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
rangeandangle) as a polygon inpoly_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.
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