def run_ratio(ratio, radii, tracking, coverage=0.1, T=120, dt=1, fname=None):
'''Runs the specified target-robot ratio for the specified environment radii'''
# Run simulation for each radius
observations = []
for i, R in enumerate(radii):
m_max, n_max = 10, 20
if ratio <= 1:
m = m_max
n = int(ratio * m_max)
else:
n = n_max
m = int(n_max / ratio)
print '\tSim {} of {}: n = {}, m = {}'.format(i + 1, len(radii), n, m)
sim = Simulation(m, n, T, dt, R, tracking=tracking)
sim.run(vis='', fname=fname)
observations.append(sim.average_observations(normalize=True))
return radii, observations
def main():
# Read arguments
args = parser().parse_args()
seed(args.seed)
# Run once
if not args.run_all:
sim = Simulation(args.m,
args.n,
args.t,
args.dt,
args.r,
tracking=args.tracking)
sim.run(vis=args.visualization, fname=args.output_file)
print 'observations = {}'.format(
sim.average_observations(normalize=True))
# Run ratios
else:
ratios = [1 / 5., 1 / 2., 1, 4, 10]
run_ratios(ratios, tracking=args.tracking, fname=args.output_file)
