def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
self.virtual_create = factory.create_virtual_create()
self.odometry = odometry.Odometry()
# For Simulation Testing
# self.p_map = lab8_map.Map("final_map.json")
# self.map = lab10_map.Map("final_map_config.png")
# For Physical Testing
self.p_map = lab8_map.Map("finalproject_map3.json")
self.map = lab10_map.Map("finalproject_map3_config.png")
self.path = lab10.Run(factory, self.map)
# TODO identify good PID controller gains
self.pidTheta = pid_controller.PIDController(200, 0, 100, [-10, 10], [-50, 50], is_angle=True)
# TODO identify good particle filter parameters
self.pf = particle_filter.ParticleFilter(self.p_map, 1000, 0.06, 0.15, 0.2)
self.joint_angles = np.zeros(7)
def __init__(self):
self.time = time
self.locationX = 0
self.locationY = 0
self.orientation = 0
self.distance = 0
#self.probSensorGivenLoc = 0
self.numParticles = 1000
self.probLoc = []
for index in range(0, self.numParticles):
#self.probLoc.append(math.log(1) - math.log(self.numParticles))
self.probLoc.append(1/self.numParticles)
self.realMean = 0
self.realStd = 0
self.particleSense = []
for index in range(0, self.numParticles):
self.particleSense.append(0)
self.round = 1
self.data = []
self.particlesToUse = []
self.map = lab10_map.Map("lab10.map")
def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
self.arm = factory.create_kuka_lbr4p()
self.virtual_create = factory.create_virtual_create()
# self.virtual_create = factory.create_virtual_create("192.168.1.XXX")
self.odometry = odometry.Odometry()
self._map = lab8_map.Map("lab8_map.json")
# self.map = lab10_map.Map("configuration_space.png")
self.map = lab10_map.Map("config2.png")
self.rrt = rrt.RRT(self.map)
self.min_dist_to_localize = 0.1
self.min_theta_to_localize = math.pi / 4
# TODO identify good PID controller gains
self.pidTheta = pid_controller.PIDController(300,
5,
50, [-10, 10],
[-200, 200],
is_angle=True)
# self.pidTheta = pid_controller.PIDController(200, 0, 100, [-10, 10], [-50, 50], is_angle=True)
# self.pidDistance = pid_controller.PIDController(300, 0, 20, [0, 0], [-200, 200], is_angle=False)
# TODO identify good particle filter parameters
self.pf = particle_filter.ParticleFilter(self._map, 5000, 0.06, 0.15,
0.2)
_ = self.create.sim_get_position()
self.my_arm_robot = MyArmRobot(factory.create_kuka_lbr4p(), self.time)
self.joint_angles = np.zeros(7)
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.sonar = factory.create_sonar()
self.servo = factory.create_servo()
self.odometry = odometry.Odometry()
self.pidTheta = pid_controller.PIDController(300, 5, 50, [-10, 10], [-200, 200], is_angle=True)
self.map = lab10_map.Map("lab10.png")
self.rrt = rrt.RRT(self.map)
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.map = lab10_map.Map("lab10.png")
self.map.thicker_border = 10
self.odometry = odometry.Odometry()
self.pidTheta = pid_controller.PIDController(300,
5,
50, [-10, 10],
[-200, 200],
is_angle=True)
def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
# Add the IP-address of your computer here if you run on the robot
self.virtual_create = factory.create_virtual_create()
self.map = lab10_map.Map("lab10.map")
self.pf = particle_filter.ParticleFilter()
self.odometry = odometry.Odometry()
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.map = lab10_map.Map("lab10.png")
self.odometry = odometry.Odometry()
self.pidTheta = pid_controller.PIDController(300,
5,
50, [-10, 10],
[-200, 200],
is_angle=True)
self.pidDistance = pid_controller.PIDController(1000,
0,
50, [0, 0],
[-200, 200],
is_angle=False)
def __init__(self, factory):
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.map = lab10_map.Map("configuration_space.png")
self.RRTree = RRTree(1, self.map)
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.sonar = factory.create_sonar()
self.servo = factory.create_servo()
self.odometry = odometry.Odometry()
# self.pidTheta = pd_controller2.PDController(500, 100, -200, 200, is_angle=True)
self.pidTheta = pid_controller.PIDController(300,
5,
50, [-10, 10],
[-200, 200],
is_angle=True)
self.pidDistance = pid_controller.PIDController(1000,
0,
50, [0, 0],
[-200, 200],
is_angle=False)
def __init__(self, factory):
"""Constructor.
Args:
factory (factory.FactoryCreate)
"""
self.create = factory.create_create()
self.time = factory.create_time_helper()
self.servo = factory.create_servo()
self.sonar = factory.create_sonar()
self.arm = factory.create_kuka_lbr4p()
self.virtual_create = factory.create_virtual_create()
# self.virtual_create = factory.create_virtual_create("192.168.1.XXX")
self.odometry = odometry.Odometry()
# self.map = lab8_map.Map("lab8_map.json")
self.map = lab10_map.Map("configuration_space.png")
self.pidTheta = pid_controller.PIDController(300,
5,
50, [-10, 10],
[-200, 200],
is_angle=True)
self.pidDistance = pid_controller.PIDController(300,
0,
20, [0, 0],
[-200, 200],
is_angle=False)
# self.pidTheta = pid_controller.PIDController(200, 0, 100, [-10, 10], [-50, 50], is_angle=True)
self.rrt = rrt.RRT(self.map)
self.joint_angles = np.zeros(7)
# the position that the robot returns after localizing
self.localized_x = 0
self.localized_y = 0
self.localized_theta = math.pi / 2