def main(argv) :
if len(argv) < 0 or len(argv) > 4 :
print "Inadequate number of parameters, view README"
return
b = g.get_bot()
sensor_grid = grid.Grid(size, size) # Grid for displaying noisy readings
ml_grid = grid.Grid(size, size) # Grid for displaying most likely pos
accuracy = [] # At each step, how far away is the most likely state
steps = 15 # How many steps the robot should take
print_info = False # Flag for info
print_grid = False # Flag for grid printing
time_per_step = 0.0
if len(argv) >= 1 :
steps = int(argv[0])
if len(argv) >= 2 :
print_info = (int(argv[1]) != 0)
if len(argv) >= 3 :
print_grid = (int(argv[2]) != 0)
if len(argv) >= 4 :
time_per_step = float(argv[3])
count = 0
for i in xrange(steps) :
obs = g.next() # Latest observation
update(obs)
if not obs[0] is "nothing" : # Nothing handling
sensor_grid.set_bot(obs[0][0], obs[0][1])
ml_state = most_likely()
if print_grid : # This prints three parallell grids
ml_grid.set_bot(ml_state.get_x(), ml_state.get_y())
grid_string = g.to_string().split("\n")
sensor_string = sensor_grid.to_string().split("\n")
ml_string = ml_grid.to_string().split("\n")
for j in xrange(len(grid_string)) :
print (grid_string[j] + sensor_string[j]
+ ml_string[j])
bstate = b.to_state()
diff = bstate.diff(ml_state)
accuracy.append(diff)
if print_info :
info = "Actual" + str(bstate.to_string())
info += "\tSensor"
info += str((obs[0], bot.h_to_string(obs[1])))
info += "\tMost likely" + str(ml_state.to_string())
print info + "\n"
print "Off by " + str(diff)
if print_grid :
time.sleep(time_per_step)
s = str(len(accuracy)) + ": "
for x in accuracy :
s += str(abs(x[0]) + abs(x[1])) + " "
print "\nAccuracy as a function of time: "
print s
def to_string(self) :
s = "(" + str(self.loc) + ", "
s += bot.h_to_string(self.h) + ")"
return s
