ED.get_closest_entity(center_point should be VectorStamped

[LoyVanBeek]

Now its a plain old Vector, assumed to be in /map.

This is inconsistent with get_entity

[LoyVanBeek]

robot_skills.git/src/robot_skills/mockbot.py

• [x] 173: self.get_closest_entity = lambda *args, **kwargs: random.choice(self._entities.values())

robot_skills.git/src/robot_skills/world_model_ed.py

• [x] 94: def get_closest_entity(self, type="", center_point=Point(), radius=0):

robot_smach_states.git/examples/hear_grasp.py

• [x] 37: # call robot.ed.get_closest_entity()

tue_robocup.git/challenge_spr/src/challenge_spr_states/bluff_game.py

• [x] 30: operator = robot.ed.get_closest_entity(radius=1.9, center_point=robot.base.get_location().p)

tue_robocup.git/challenge_speech_recognition/src/indirect_speech_recognition.py

• [x] 55: operator = self.robot.ed.get_closest_entity(self, radius=1.9,

tue_robocup.git/robot_skills/src/robot_skills/mockbot.py

• [x] 179: self.get_closest_entity = lambda *args, **kwargs: random.choice(self._entities.values())

tue_robocup.git/robot_skills/src/robot_skills/world_model_ed.py

• [x] 98: def get_closest_entity(self, type="", center_point=kdl.Vector(), radius=0):

tue_robocup.git/robot_skills/test/test_worldmodel.py

• [ ] 52:closest = robot.ed.get_closest_entity(center_point=kdl.Vector(0, 0, 0), radius=2.0) # This is implicitly in /map
• [ ] 56:closest2 = robot.ed.get_closest_entity(type=query_type, center_point=kdl.Vector(0, 0, 0), radius=10.0)
• [x] 59: failed_actions += ["get_closest_entity with type, center_point and radius"]

tue_robocup.git/robot_smach_states/examples/hear_grasp.py

• [x] 37: # call robot.ed.get_closest_entity()