def get_next()

in simulation_ws/src/aws_robomaker_simulation_common/nodes/route_manager.py [0:0]

• 20 lines of code
• 4 McCabe index (conditional complexity)

    def get_next(self):
        """
        Get next goal.

        Scan the map for a valid goal.
        Convert to world coordinates and wraps as a Pose
         to be consumed by route manager.

        Args
        ----

        Returns
        -------
            Pose:
                {
                    'position': {
                        'x': double
                        'y': double
                        'z': double
                    }
                    'orientation': {
                        'x': double
                        'y': double
                        'z': double
                        'w': double
                    }
                }

        """
        z_world_floor = 0.
        euler_orientation = [0., 0., 0.]

        rospy.loginfo('Searching for a valid goal')
        timeout_iter = 100
        iteration = 0
        while iteration < timeout_iter:
            _x = random.randint(0, self.meta_data.width - 1)
            _y = random.randint(0, self.meta_data.height - 1)
            _row_id = self.ravel_index(_x, _y)
            if self.occupancy_data.data[_row_id] == 0 and self.check_noise(
                    _x, _y, row_id=_row_id):
                x_world, y_world = self.grid_to_world_2d(_x, _y)
                rospy.loginfo('Valid goal found!')
                return self._create_pos(
                    x_world, y_world, z_world_floor, *euler_orientation)

        rospy.logerr('Could not find a valid goal in the world. Check that \
            your occupancy map has Trinary value representation and is not \
            visually noisy/incorrect')
        return None