check_obstacle()

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

TODO!: Figure that shows the obstacle detection.

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`	enum	`ANG_UNIT.DEG`	ENUM to select the unit of the angle: (`ANG_UNIT.DEG`) degrees or (`ANG_UNIT.RAD`) 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

Boolean.
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

Exception	Condition
`RayaLidarInvalidAngleUnit`
`RayaInvalidNumericRange`	upper_angle is lower than lower_angle or none of lower_distance and upper_distance are specified or upper_distance is lower than lower_distance.

Examples

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

...
self.lidar = self.enable_controller('lidar')
...
detection = self.lidar.check_obstacle(
                lower_angle=-15.0, 
                upper_angle=15.0, 
                lower_distance=1.5, 
                and_unit=ANG_UNIT.DEG)
...

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delete_listener()

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Reference
Examples