# case = Case("DrunkWalk")
# case.cov_algo = "drunkwalk"
# case.start = [4,4]
# case.end = [46,46]
# case = Case("DrunkWalk_PProbe", "./ArenaMaps/7room_slam_map_small.bmp")
# case.cov_algo = "drunkwalk_pprobe"
case = Case("DrunkWalk_BiasedRandom",
"./ArenaMaps/7room_slam_map_small.bmp")
#case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/7room_slam_map.bmp")
case.cov_algo = "drunkwalk_biased"
# case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/6room_map_small/6room_map.bmp")
# case.cov_algo = "drunkwalk_biased"
case.goal_graph = goalgraph.GoalGraph()
case.num_explorers = 6 #10
case.num_anchors = 4 #5
# Noises
case.noise_radio = 0.5
case.noise_turn = 0.2
case.noise_velocity = 0.2
case.noise_mag = 20
case.fail_prob = 0
case.random_bias_prob = 0.0
# Particle filter settings
case.stop_on_all_covered = True
case.num_particles = 100
def reset(self):
if self.goal_graph is not None:
self.goal_graph = goalgraph.GoalGraph()