def init_filter(self):
# New robot's position
self.robot = pf.robot()
self.robot.set_noise(pf.bearing_noise, pf.steering_noise, pf.distance_noise)
# Make particles
self.particles = list(itertools.islice(self.particle_stream, self.N))
def particle_stream():
while True:
r = pf.robot()
r.set_noise(pf.bearing_noise, pf.steering_noise, pf.distance_noise)
yield r
