def __init__(self, map_file, num, alpha, log_file_path, r_step, s_search): print 'Intializing particle filter' # TODO: load the map first self.visuvalize = visuvalize.Visuvalize(map_file, r_step, s_search) self.rotation_step = int(r_step) # initialize set of particles self.particles = [] # read logs and based on the data propogate or update self.d = read_log_data.DataReader(log_file_path) # number of particles self.num = num # alphas for motion model self.alpha = alpha # initial odom self.initial_odom = np.array([0, 0, 0]) # check if the robot has moved to do resmapling self.isMoved = False self.start = True self.laser_count = 0 self.z_test = [] # read distance table self.z_required = np.load('distance_table.npy', mmap_mode='r') # generate random particles self.generate_particles = False
def __init__(self, map_file, num, alpha, log_file_path, r_step, s_search): print 'Intializing particle filter' # TODO: load the map first self.visuvalize = visuvalize.Visuvalize(map_file, r_step, s_search) self.rotation_step = int(r_step) # initialize set of particles self.particles = [] # read logs and based on the data propogate or update self.d = read_log_data.DataReader(log_file_path) # number of particles self.num = num # alphas for motion model self.alpha = alpha # initial odom self.initial_odom = np.array([0, 0, 0]) # check if the robot has moved to do resmapling self.isMoved = False self.start = True self.laser_count = 0 self.z_test = [] # read distance table self.z_required = np.load('distance_table.npy', mmap_mode='r') # generate random particles self.generate_particles = False # laser data self.ll = [] #img count self.img_count = 0 # for using vectorization self.particles_weight = np.ones(self.num) * 1.0 / self.num self.particles_pose = np.ndarray(shape=(self.num, 3), dtype=float) # initialize the motion model and mesurement model self.motion_model = motion_model.MotionModel(alpha, [0, 0, 0], 'normal') # measeurement model self.measurement_model = measurement_model.MeasurementModel( self.visuvalize.global_map, self.visuvalize.distance_table, self.rotation_step)
def __init__(self, map_file, num, alpha, log_file_path, r_step, s_search): print 'Intializing particle filter' # TODO: load the map first self.visuvalize = visuvalize.Visuvalize(map_file, r_step, s_search) self.rotation_step = int(r_step) # initialize set of particles self.particles = [] # read logs and based on the data propogate or update self.d = read_log_data.DataReader(log_file_path) # number of particles self.num = num # alphas for motion model self.alpha = alpha # initial odom self.initial_odom = np.array([0, 0, 0]) # check if the robot has moved to do resmapling self.isMoved = False