python画一个玫瑰和一个爱心

yipeiwu_com5年前Python基础

节日用心准备的礼物,使用python画玫瑰和爱心,供大家参考,具体内容如下

#!/usr/bin/env python
#coding=utf-8
#女生节礼物
 
import rospy
from sensor_msgs.msg import LaserScan
import numpy
import copy
 
node_name = "Test_Maker"
 
class Test_Maker():
  def __init__(self):
    self.Define()
    rospy.Timer(rospy.Duration(0.5), self.Timer_CB1)
    rospy.Timer(rospy.Duration(0.5), self.Timer_CB2)
    rospy.Timer(rospy.Duration(0.5), self.Timer_CB3)
    rospy.Timer(rospy.Duration(0.5), self.Timer_CB4)
    rospy.spin()
 
  def Define(self):
    self.pub_scan1 = rospy.Publisher('test/test_scan1', LaserScan, queue_size=1)
    self.pub_scan2 = rospy.Publisher('test/test_scan2', LaserScan, queue_size=1)
    self.pub_scan3 = rospy.Publisher('test/test_scan3', LaserScan, queue_size=1)
    #慎用!!!!
    self.pub_scan4 = rospy.Publisher('test/test_scan4', LaserScan, queue_size=1)
 
  def Timer_CB1(self, e):
    data = LaserScan()
    data.header.frame_id = "base_link"
    data.angle_min = 0
    data.angle_max = numpy.pi*2
    data.angle_increment = numpy.pi*2 / 200
    data.range_max = numpy.Inf
    data.range_min = 0
    theta = 0
    for i in range(200):
      r = 8.* numpy.sin(5. * theta )
      data.ranges.append(copy.deepcopy(r))
      data.intensities.append(theta)
      r = 8.* numpy.sin(5. * -theta)
      data.ranges.append(copy.deepcopy(r))
      data.intensities.append(theta)
 
      theta += data.angle_increment
    data.header.stamp = rospy.Time.now()
    self.pub_scan1.publish(data)
 
  def Timer_CB2(self, e):
    data = LaserScan()
    data.header.frame_id = "base_link"
    data.angle_min = 0
    data.angle_max = numpy.pi*2
    data.angle_increment = numpy.pi*2 / 200
    data.range_max = numpy.Inf
    data.range_min = 0
    theta = 0
    for i in range(200):
      r = 8. * numpy.cos(5. * theta) + 1
      data.intensities.append(theta)
      data.ranges.append(copy.deepcopy(r))
      r = 8. * numpy.cos(5. * -theta) + 1
      data.intensities.append(theta)
      data.ranges.append(copy.deepcopy(r))
      theta += data.angle_increment
 
    data.header.stamp = rospy.Time.now()
    self.pub_scan2.publish(data)
 
  def Timer_CB3(self, e):
    data = LaserScan()
    data.header.frame_id = "base_link"
    data.angle_min = 0
    data.angle_max = numpy.pi*2
    data.angle_increment = numpy.pi*2 / 50
    data.range_max = numpy.Inf
    data.range_min = 0
    theta = 0
    for i in range(200):
      r = 2. * numpy.sin(5. * theta) + 1
      data.intensities.append(theta)
      data.ranges.append(copy.deepcopy(r))
      r = 2. * numpy.sin(5. * -theta) + 1
      data.intensities.append(theta)
      data.ranges.append(copy.deepcopy(r))
      theta += data.angle_increment
 
    data.header.stamp = rospy.Time.now()
    self.pub_scan3.publish(data)
 
  #慎用!!!!
  def Timer_CB4(self, e):
    data = LaserScan()
    data.header.frame_id = "base_link"
    data.angle_min = 0
    data.angle_max = numpy.pi*2
    data.angle_increment = data.angle_max / 200
    data.range_max = numpy.Inf
    data.range_min = 0
    theta = 0
    for i in range(200):
      r = 9. * numpy.arccos(numpy.sin(theta)) + 9
      data.ranges.append(r)
      theta += data.angle_increment
 
    data.header.stamp = rospy.Time.now()
    self.pub_scan4.publish(data)
 
if __name__ == '__main__':
  node_name = 'Test_Maker'
  rospy.init_node(node_name)
  try:
    Test_Maker()
  except rospy.ROSInterruptException:
    rospy.logerr('%s error'%node_name)

以上就是本文的全部内容,希望对大家的学习有所帮助,也希望大家多多支持【听图阁-专注于Python设计】。

相关文章

Python 文件和输入输出小结

1.打开和关闭文件(open(),file(),close()) 有两种内建函数可以获取文件对象:open和file。他们的用法完全一样。下面只以open()为例子讲解。获取一个文件对象...

Python基础之函数基本用法与进阶详解

Python基础之函数基本用法与进阶详解

本文实例讲述了Python基础之函数基本用法与进阶。分享给大家供大家参考,具体如下: 目标 函数参数和返回值的作用 函数的返回值 进阶 函数的参数 进阶 递归函数 01....

python原类、类的创建过程与方法详解

今天为大家介绍一下python中与class 相关的知识…… 获取对象的类名 python是一门面向对象的语言,对于一切接对象的python来说,咱们有必要深入的学习与了解一...

Python:Numpy 求平均向量的实例

如下所示: >>> import numpy as np >>> a = np.array([[1, 2, 3], [3, 1, 2]]) >...

Python中使用HTMLParser解析html实例

前几天遇到一个问题,需要把网页中的一部分内容挑出来,于是找到了urllib和HTMLParser两个库.urllib可以将网页爬下来,然后交由HTMLParser解析,初次使用这个库,在...