sim.scoring.HoopScore#

Classes#

HoopScoringNode

Scoring node for in-house competition.

Functions#

main([args])

Main function for scoring node. (SAME AS BEFORE)

Module Contents#

class HoopScoringNode(vehicle_name: str | None = None, hoop_tolerance: float = 1.5, landing_bonus: float = 5.0, landing_tolerance: float = 2.0, landing_altitude_max: float = 0.4)#

Bases: sim.scoring.ScoringNode

Scoring node for in-house competition. Tracks UAV position and scores hoop passages using directional detection.

vehicle_name#

hoop_tolerance = 1.5#

landing_bonus = 5.0#

landing_tolerance = 2.0#

landing_altitude_max = 0.4#

hoop_poses: List[Tuple[float, float, float, float, float, float]] = []#

passed_hoops: List[bool] = []#

start_time#

uav_position: Tuple[float, float, float] | None = None#

position_history: List[Tuple[float, float, float, float]] = []#

max_history = 100#

prev_position: Tuple[float, float, float] | None = None#

drone_last_side: List[int] = []#

landed_at_origin = False#

landing_bonus_awarded = False#

drone_publisher#

position_subscription#

hoop_client#

hoops_loaded = False#

_try_request_hoops()#

_on_hoops_response(future)#

load_hoop_positions()#: Load hoop positions from ROS2 parameters.

set_course_hoops(hoop_poses: List[Tuple[float, float, float, float, float, float]])#: Set the hoop positions for scoring. (UPDATED)

update_scoring() → None#

Check if drone passes through any hoop using directional detection.

Implements the abstract method from ScoringNode.

check_landing_bonus()#: Check if drone has landed at origin and award bonus points.

_world_to_hoop_local(world_pos: Tuple[float, float, float], hoop_pos: Tuple[float, float, float], hoop_euler: Tuple[float, float, float]) → Tuple[float, float, float]#: Convert world position to hoop local coordinates. (NEW METHOD)

position_callback(msg: px4_msgs.msg.VehicleLocalPosition)#: Callback for UAV position updates. (SAME AS BEFORE)

main(args=None)#: Main function for scoring node. (SAME AS BEFORE)