def particle_filter(motions,
measurements,
final_robot,
N=500): # I know it's tempting, but don't change N!
# --------
#
# Make particles
#
v = Euv.Viewer(
size=(600, 600),
view_port_center=(50, 50),
view_port_width=300,
)
p = []
for i in range(N):
r = robot()
r.set_noise(bearing_noise, steering_noise, distance_noise)
p.append(r)
# --------
#
# Update particles
#
for t in range(len(motions)):
show_frame(v, p, final_robot[t])
# motion update (prediction)
p2 = []
for i in range(N):
p2.append(p[i].move(motions[t]))
p = p2
# measurement update
w = []
for i in range(N):
w.append(p[i].measurement_prob(measurements[t]))
# resampling
p3 = []
index = int(random.random() * N)
beta = 0.0
mw = max(w)
for i in range(N):
beta += random.random() * 2.0 * mw
while beta > w[index]:
beta -= w[index]
index = (index + 1) % N
p3.append(p[index])
p = p3
show_frame(v, p, final_robot[t])
# Wait for GUI to finish
v.wait()
return get_position(p)
rod.setPosition((0, 0.5, 0))
# Connect the rod with the world through a Hinge joint.
world_joint = ode.HingeJoint(world)
world_joint.attach(rod, ode.environment)
world_joint.setAnchor((0, 0, 0))
world_joint.setAxis((0, 0, 1))
# Connect rod with ball with a fixed joint
rod_ball_joint = ode.FixedJoint(world)
rod_ball_joint.attach(rod, ball)
rod_ball_joint.setFixed()
# Create the viewer window
viewer = Euv.Viewer(size=(600, 600),
view_port_center=(0, 0),
view_port_width=2.5,
flip_y=True)
# Do the simulation
total_time = 0.0
dt = 0.02
Kf = 0.5 # Friction force
while total_time < 30:
# push the ball after half a second!
if total_time >= 0.5 and total_time < 0.5 + dt:
ball.addRelForce((-20, 0, 0))
elif total_time >= 0.5 + dt and total_time < 0.5 * 2 * dt:
ball.addRelForce((20, 0, 0))
#!/usr/bin/python
import Euv.Frame as Frame
import Euv.EuvGtk as Euv
import Euv.Color as Color
import time
v = Euv.Viewer(size=(800, 600), view_port_center=(0, 0), view_port_width=800)
N = 1000
for i in range(N):
f = Frame.Frame()
x = 600. * (i - N / 2) / N
f.add_circle(pos=(x, x), color="red", alpha=0.5, radius=15)
f.add_circle(pos=(-x, x), color="blue", alpha=0.5, radius=15)
f.add_text(pos=(250, 200),
face="Sans",
size=20,
text="Frame %d" % i,
color=Color.Color("darkgreen"))
if v.user_break():
break
v.add_frame(f)
v.wait()
import Euv.Frame as Frame
import Euv.EuvGtk as Euv
import Euv.Color as Color
import Euv.Shapes as Shapes
import time
import math
N=200
v = Euv.Viewer(size=(800,600),
view_port_center = (0,0),
view_port_width = 800,
max_num_frames=N,
recording=True,
flip_y = True)
for i in range(N):
f = Frame.Frame()
x = 400 * 1.0*(i-N/2)/N
n = 40
for j in range(n):
f.add_circle(pos=(x+j*5,20*math.sin(2*math.pi*(i+j)/n)),
color=Color.Color("red"),
radius=3)
f.add_lines(color=Color.Color("midnightblue"),
lines=[[(x+5,105),(x+35,105)]])
f.add_polygons(color=Color.Color("magenta3"),
polygons = [[(x,100),
(x+10,100),
(x+5,110)],
[(x+30,100),
(x+40,100),
(x+35,110)],