m_carmunk.py 文件源码

def get_position_sonar_readings(self):
        color = float(self.color)
        x, y = self.car_body.position
        angle = self.car_body.angle
        vel = self.direct/self.vmax
        car_info = [color, x, y, vel, angle]
        arm = self.make_sonar_arm()
        readings = []
        # Rotate them and get readings.
        for i in range(-90, 91, 30):
            readings.append(self.get_arm_distance(arm, pi_unit*i))
        if show_sensors:
            pygame.display.update()
        self.readings = np.array(readings)
        return car_info+readings