printer(['particles','iters','rtime','goaldist','errormean','errorstd'], OUTFILE)
for num_particles in np.arange(1,MAX_PARTICLES):
for _ in range(TRIALS_PARTICLES):
sim_params['num_particles'] = num_particles
# Initialize model of world
sim = Simulation(world_params)
sstate = sim.get_state()
# Reinitialize randomness after world generation
np.random.seed(None)
# Add a car model robot
init_state = [5,5,0]
sim.add_robot(robot_params,init_state)
# add a radar sensor
robot_id = robot_params['id']
sim.add_sensor(robot_id, sensor_params)
readings = sim.read_sensors()
# Initialize player model for control input
p = Player_vi(all_params, sim.get_occupied())
# Initialize View
if GUI_ON:
rstate = sim.get_state()
#import numpy as np
sim_params = {'world_type':'maze',
'world_length':100,
'world_width':100,
'robot_length':2,
'robot_stochastic':False,
'radar_radius':8,}
robot_id = 1
v = View()
sim = Simulation(sim_params)
state = sim.get_state()
v.update_rstate(state)
sim.add_robot('car',robot_id)
state = sim.get_state()
v.update_rstate(state)
sim.add_sensor(robot_id, 'radar')
readings = sim.read_sensors()
print readings
raw_input('pause : press any key to finish...')
#maze = gen_terrain_dfs(100,100)
#world = Maze()
#x,y = np.nonzero(world.get_map())
#plt.scatter(x,y)
#plt.show()