def __init__(self, bzrc, bayes): self.bzrc = bzrc self.constants = self.bzrc.get_constants() self.commands = [] self.ALPHA = 0.01 self.BETA = 0.3 self.OBS_TOLERANCE = 35.0 self.S = 50 self.wroteonce = False self.goalradius = 30 self.tankradius = 5 self.avoidradius = 50 self.avoidBETA = 0.05 self.aimtolerance = math.pi/20 self.world_grid = WorldGrid() self.bayes = bayes self.turnprob = 0.05 self.turndecisionprob = 0.5 self.turned = False self.turniter = 0 self.TURN_MAX = 50 self.OCCUPIED = 1; self.UNOCCUPIED = 0;
def __init__(self, lidar, clear_interval):
self._lidar = lidar
self._world_grid = WorldGrid(WORLD_GRID_RESOLUTION, WORLD_GRID_THRESHOLD)
self._clear_interval = clear_interval
self._time_since_clear = 0
