def __init__(self, cols, rows, widthMM, heightMM,
#the x,y and th of the current location can be passed
currentRow = -1, currentCol = -1, currentTh= 0,
goalRow = -1, goalCol = -1, gridUpdate = "",
image=None, grid=None, gridResize=1.0,showIter=0, title=""):
self.markerToolkit = MarkerToolkit()
self.x_localizeMM = 0
self.y_localizeMM = 0
self.thr_localize = 0
self.x_last_marker_localizeMM = 0
self.x_last_marker_robotMM = 0
self.y_last_marker_localizeMM = 0
self.y_last_marker_robotMM = 0
self.thr_last_marker_localize = 0
self.thr_last_marker_robot = 0
self.resetMarkers()
OccupancyGrid.__init__(self, cols=cols, rows=rows,
widthMM=widthMM, heightMM=heightMM,
currentRow=currentRow, currentCol=currentCol,
currentTh=currentTh,
goalRow=goalRow, goalCol=goalCol,
image=image, grid=grid, gridResize=gridResize,
showIter=showIter, title=title)
def __init__(
self,
cols,
rows,
widthMM,
heightMM,
# the x,y and th of the current location can be passed
currentRow=-1,
currentCol=-1,
currentTh=0,
goalRow=-1,
goalCol=-1,
gridUpdate="",
image=None,
grid=None,
gridResize=1.0,
showIter=0,
title="",
):
self.centros = []
self.markerToolkit = MarkerToolkit()
self.x_localizeMM = 0
self.y_localizeMM = 0
self.thr_localize = 0
self.x_last_marker_localizeMM = 0
self.x_last_marker_robotMM = 0
self.y_last_marker_localizeMM = 0
self.y_last_marker_robotMM = 0
self.thr_last_marker_localize = 0
self.thr_last_marker_robot = 0
self.resetMarkers()
OccupancyGrid.__init__(
self,
cols=cols,
rows=rows,
widthMM=widthMM,
heightMM=heightMM,
currentRow=currentRow,
currentCol=currentCol,
currentTh=currentTh,
goalRow=goalRow,
goalCol=goalCol,
image=image,
grid=grid,
gridResize=gridResize,
showIter=showIter,
title=title,
)
self.distanceToWall = [[self.infinity for col in range(self.cols)] for row in range(self.rows)]
# Todos los bloques ocupados forman parte de una pared y por tanto
# se les asigna distancia 0 a las paredes.
for row in range(self.rows):
for col in range(self.cols):
if self.grid[row][col] > self.threshhold:
self.distanceToWall[row][col] = 0
# Inicia perceptrón con los pesos calculados en la parte1. Si no se desea usar, comentar
# esta sección de código.
self.pesos = [
-0.25830320437434307,
1.160526501403915,
-0.15551005292679421,
1.2578377038143795,
-0.55707372041035363,
-2.9552247878192888,
-1.6809527155003046,
-2.2014578204055359,
-13.0,
0.0,
]
self.calculadorNeuronal = PerceptronMonocapa(self.pesos, w2)
