Localizer entry point needs to be passed waypoints by controller

IEEERobotics / high-level

CV, localization, mapping, planning, and generally anything that will run on the PandaBoard

BSD 2-Clause "Simplified" License

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Localizer entry point needs to be passed waypoints by controller #32

Closed jschornick closed 11 years ago

jschornick commented 11 years ago

Localizer needs to be passed the waypoints (dict?) via run() when it is started by controller. The waypoints structure is passed straight into the map class to perform the block-to-wall conversion using mapping's FillLoc() method.

dfarrell07 commented 11 years ago

Okay, you're being passed the waypoints now. Here's the call:

  pLocalizer = Process(target=localizer.run, args=(bot_loc, blocks, map_properties, course_map, waypoints, qNav_loc, bot_state))
  pLocalizer.start()