check_obstacle()¶

Check the presence of an obstacle into a specified range of angles and distances.

Reference¶

Arguments¶

Argument	Type	Default value
`lower_angle`	`float`		Lower bound of the angles range.
`upper_angle`	`float`		Upper bound of the angles range.
`lower_distance`	`float`	`0.0`	Lower bound of the distance range.
`Upper_distance`	`float`	`float('inf')`	Upper bound of the distance range.
`ang_unit`	`ANGLE_UNIT`	`DEGREES`	ENUM to select the unit of the angle: (`DEGREES`) degrees or (`RADIANS`) radians.

Both lower_angle and upper_angle must be into the range [angle_min, angle_max] from laser info (see LidarController.get_laser_info())
upper_angle must be higher than lower_angle.
At least one of both lower_distance or upper_distance must be speficied.
upper_distance must be higher than lower_distance.

Return¶

bool Returns True if the lidar detects an obstacle between the angles lower_angle and upper_angle, at a distance between lower_distance and upper_distance from the robot.

Exceptions¶

RayaLidarInvalidAngleUnit
RayaInvalidNumericRange

See the complete list of lidar exceptions.

Usage Example¶

Check if obstacle in front of the robot (angle range: [-15.0°, 15.0°]), at less than a meter and a half.

Code:

...
class RayaApplication(RayaApplicationBase):

    async def setup(self):
        self.lidar = self.enable_controller('lidar')
        ...

    async def loop(self):
      ...
      detection = self.lidar.check_obstacle(
                lower_angle=-15.0,
                upper_angle=15.0,
                lower_distance=1.5,
                and_unit=ANG_UNIT.DEG
            )
      ...

    async def finish(self):
       ...

See the Lidar_listener example to check some valid uses.