walker.py 文件源码

def thinking(self):
        """Deliberate to avoid obstacles on the path."""
        if self.motion.moveIsActive():
            # Maneuver occurring. Let's finish it
            # before taking any other measure.
            pass

        elif not self.sensors['proximity'][0].imminent_collision:
            # Goes back to moving state.
            self.behavior_ = self.BEHAVIORS.moving

        elif all(s.imminent_collision for s in self.sensors['proximity']):
            # There's nothing left to be done, only flag this is a dead-end.
            self.behavior_ = self.BEHAVIORS.stuck

        else:
            peripheral_sensors = self.sensors['proximity'][1:]
            for maneuver, sensor in zip(range(1, 4), peripheral_sensors):
                if not sensor.imminent_collision:
                    # A sensor that indicates no obstacles were found.
                    # Move in that direction.
                    self.motion.post.moveTo(0, 0, np.pi / 2)
                    break

        return self