import random
from particle_filter.robot import robot
if __name__ == '__main__':
myrobot = robot()
myrobot = myrobot.move(0.1, 5.0)
Z = myrobot.sense()
N = 1000
p = []
for i in range(N):
x = robot()
x.set_noise(0.05, 0.05, 5.0)
p.append(x)
p2 = [particle.move(.1, 5.) for particle in p]
p = p2
w = [particle.measurement_prob(Z) for particle in p]
p3 = []
max_weight = max(w) * 2
index = random.randrange(N)
beta = 0
for _ in range(N):
beta += random.random() * max_weight
while w[index] < beta:
import random
from particle_filter.robot import robot, eval
if __name__ == '__main__':
myrobot = robot()
N = 1000
T = 10 # Leave this as 10 for grading purposes.
p = []
for i in range(N):
r = robot()
r.set_noise(0.05, 0.05, 5.0)
p.append(r)
turn = .1
move = 5.
for t in range(T):
myrobot = myrobot.move(turn, move)
Z = myrobot.sense()
p = [particle.move(turn, move) for particle in p]
w = [particle.measurement_prob(Z) for particle in p]
p3 = []
index = int(random.random() * N)
beta = 0.0
mw = max(w)
for i in range(N):
from particle_filter.robot import robot
if __name__ == '__main__':
N = 1000
particles = [robot() for _ in range(N)]
print(len(particles))
from math import pi
from particle_filter.robot import robot
if __name__ == '__main__':
myrobot = robot()
myrobot.set_noise(5, .1, 5)
myrobot.set(30, 50, pi / 2)
myrobot = myrobot.move(-pi / 2, 15)
print(myrobot.sense())
myrobot = myrobot.move(-pi / 2, 10)
print(myrobot.sense())