Localino Server Documentation

class localino_server.Circle(point, radius)[source]

An object that holds a point and a radius

class localino_server.LocalinoPublisher[source]

Listens for Localino packets, triangulates the tags, and publishers their location to ROS

static get_all_intersecting_points(circles)[source]

Finds the intersecting points among a list of circles

Parameters:circles (list) – A list of Circle objects
Returns:A list of points where at least two circles intersect
Return type:List
static get_polygon_center(points)[source]

Returns a point in the middle of the other points

Parameters:points (list) – A list of Points
Returns:The point at the center
Return type:geometry_msgs.msg.Point
static get_two_circles_intersecting_points(c1, c2)[source]

Finds the intersecting points between two circles

Parameters:
  • c1 (Circle) – The first circle
  • c2 (Circle) – The second circle
Returns:

two points where the circles intersect or None
Return type:

list
static get_two_points_distance(p1, p2)[source]

Returns the distance between two points

Parameters:
  • p1 (geometry_msgs.msg.Point) – The first point
  • p2 (geometry_msgs.msg.Point) – The second point
Returns:

The distance between the two points
Return type:

float
handle_read()[source]

On a read, save the distance info and try to triangulate the tag

Overrides asyncore.dispatcher’s handler

static is_contained_in_circles(point, circles)[source]

Checks if a point is inside every circle

Parameters:
  • point (geometry_msgs.msg.Point) – a point
  • circles (List) – A list of Circles
Returns:

True if the point is in the circles, false otherwise
Return type:

bool
writeable()[source]

Never need to write

Returns:False
Return type:bool