Reference output for the World-Generator

[Darkproduct]

In a discussion today, we decided to also output reference data from the world generator. This data could be used to visualize the generated field, before loading it into gazebo, calculate robot performance measures, and so on. The output will be in JSON.

Here is some code that will generate some sample data in the current format. Let us know if there is something we should add to this output file.

import numpy as np
import json

y1 = np.arange(0.0, 10.0, 0.16)
y2 = np.arange(0.0, 10.0, 0.03)

# Output JSON helper file
info = {
    # Zero indexed array from left to right for each row of plants,
    # each containing a list of plant positions in 2d coordinates
    'plants': [
        *np.around(np.transpose([np.repeat([0.0], len(y1)), np.tile(y1, 1)]),decimals=5).tolist(),
        *np.around(np.transpose([np.repeat([0.75], len(y1)), np.tile(y1, 1)]),decimals=5).tolist(),
        *np.around(np.transpose([np.repeat([1.5], len(y1)), np.tile(y1, 1)]),decimals=5).tolist(),
        *np.around(np.transpose([np.repeat([2.25], len(y1)), np.tile(y1, 1)]),decimals=5).tolist(),
        *np.around(np.transpose([np.repeat([3.0], len(y1)), np.tile(y1, 1)]),decimals=5).tolist()
    ],

    # Zero indexed arry from left to right for each row to navigate through
    # each containing a list of 2d positions resamebling the optimal path
    'drive_rows': [
        np.around(np.transpose([np.repeat([0.375], len(y2)), np.tile(y2, 1)]),decimals=5).tolist(),
        np.around(np.transpose([np.repeat([0.75+0.375], len(y2)), np.tile(y2, 1)]),decimals=5).tolist(),
        np.around(np.transpose([np.repeat([1.5+0.375], len(y2)), np.tile(y2, 1)]),decimals=5).tolist(),
        np.around(np.transpose([np.repeat([2.25+0.375], len(y2)), np.tile(y2, 1)]),decimals=5).tolist()
    ],

    # Zero indexed array from left to right for each row to navigate through
    # each containing a list of plant positions in 2d coordinates
    'weeds': [
        [[0.3,7.4], [0.6,2.7]],
        [[1.0,9.8], [1.2,4.73]],
        [[1.6,1.25], [2.05,8.3]],
        [[2.4,5.38], [2.6,4.3]]
    ]

    # - drive_rows and weeds have the same row index
}

print(json.dumps(info))

[Darkproduct]

At the moment we as Kamaro don't see why we would need plant_rows[row_index][plant_index][x,y coordinates].
We'll simplify this structure to: plant_rows[plant_index][x,y coordinates].

Updated the original