def __init__(self, x=60, y=60, orientation=0, linear=1, angular=0, agent_color='r'):
self.state = State(x, y, orientation, linear, angular)
self.map = Map()
self.pixels_per_meter = 20 # TODO: Make mutator or include in constructor
self.type = agent_color
self.sensor = Sensor()
self.controller = Controller()
self.sensor_noise = NormalDistribution()
self.actuator_noise = NormalDistribution()
class Agent(object):
def __init__(self, x=60, y=60, orientation=0, linear=1, angular=0, agent_color='r'):
self.state = State(x, y, orientation, linear, angular)
self.map = Map()
self.pixels_per_meter = 20 # TODO: Make mutator or include in constructor
self.type = agent_color
self.sensor = Sensor()
self.controller = Controller()
self.sensor_noise = NormalDistribution()
self.actuator_noise = NormalDistribution()
def update(self):
perception = self.sensor.read(self.state)
noise = np.random.normal(self.sensor_noise.mean,self.sensor_noise.variance,len(perception))
self.controller.setPerception( perception + noise )
noise = np.random.normal(self.actuator_noise.mean,self.actuator_noise.variance,2)
(self.state.velocity.linear,self.state.velocity.angular) = self.controller.getAction() + noise