def test_voi():
from cops_and_robots.robo_tools.robber import Robber
from cops_and_robots.map_tools.map import Map
from cops_and_robots.fusion.human import Human
from cops_and_robots.fusion.gaussian_mixture import GaussianMixture
import matplotlib.pyplot as plt
from matplotlib.colors import cnames
m = Map()
pris = Robber('Pris')
pris.map_obj.color = cnames['cornflowerblue']
m.add_robber(pris.map_obj)
zhora = Robber('Zhora')
zhora.map_obj.color = cnames['cornflowerblue']
m.add_robber(zhora.map_obj)
roy = Robber('Roy')
m.add_robber(roy.map_obj)
h = Human(map_=m)
m.add_human_sensor(h)
prior = GaussianMixture(
[0.1, 0.7, 0.2], [[3, -2], [-6, -2], [0, 0]],
[[[1.5, 1.0], [1.0, 1.5]], [[2.5, -0.3], [-0.3, 2.5]],
[[0.5, -0.3], [-0.3, 0.5]]])
prior._discretize(bounds=m.bounds, grid_spacing=0.1)
q = Questioner(human_sensor=h,
target_order=['Pris', 'Roy'],
target_weights=[11., 10.])
m.setup_plot(show_human_interface=False)
m.update()
ax = m.axes['combined']
# prior.plot(bounds=m.bounds, alpha=0.5, ax=ax)
# m.update()
# plt.show()
q.weigh_questions({'Roy': prior})
for qu in q.weighted_questions:
print qu
def test_voi():
from cops_and_robots.robo_tools.robber import Robber
from cops_and_robots.map_tools.map import Map
from cops_and_robots.fusion.human import Human
from cops_and_robots.fusion.gaussian_mixture import GaussianMixture
import matplotlib.pyplot as plt
from matplotlib.colors import cnames
m = Map()
pris = Robber("Pris")
pris.map_obj.color = cnames["cornflowerblue"]
m.add_robber(pris.map_obj)
zhora = Robber("Zhora")
zhora.map_obj.color = cnames["cornflowerblue"]
m.add_robber(zhora.map_obj)
roy = Robber("Roy")
m.add_robber(roy.map_obj)
h = Human(map_=m)
m.add_human_sensor(h)
prior = GaussianMixture(
[0.1, 0.7, 0.2],
[[3, -2], [-6, -2], [0, 0]],
[[[1.5, 1.0], [1.0, 1.5]], [[2.5, -0.3], [-0.3, 2.5]], [[0.5, -0.3], [-0.3, 0.5]]],
)
prior._discretize(bounds=m.bounds, grid_spacing=0.1)
q = Questioner(human_sensor=h, target_order=["Pris", "Roy"], target_weights=[11.0, 10.0])
m.setup_plot(show_human_interface=False)
m.update()
ax = m.axes["combined"]
# prior.plot(bounds=m.bounds, alpha=0.5, ax=ax)
# m.update()
# plt.show()
q.weigh_questions({"Roy": prior})
for qu in q.weighted_questions:
print qu
