def raycasting():
raw_input('place the robot at the home position and press enter.')
print 'starting a raycasting simulation'
r = Robot()
while True:
r.update_data()
real_readings = np.array(r.data.sensor_values)
ray_readings = raycasting.exp_reading_for_pose(r.pose, r.distance_thresholds)
ray_readings = np.array(ray_readings)
print 'ray readings: %s real readings: %s errors: %s' % (ray_readings, real_readings, abs(real_readings-ray_readings))
def distance_estimate():
sensor_num = raw_input('which sensor do you want to test?') or '3'
r = Robot()
while True:
r.update_data()
try:
reading = r.data.sensor_values[int(sensor_num)]
except IndexError:
print 'no data at that index'
continue
threshold = r.data.thresholds['sensor'+sensor_num]
dist = utils.estimated_distance(reading, threshold)
print '%.2f mm away on sensor %s' % (dist, sensor_num)
def reading_estimate():
r = Robot()
sensor_num = raw_input('which sensor do you want to test?') or '3'
while True:
real_distance = raw_input('how far away in mm are you from a wall?')
r.update_data()
try:
real_reading = r.data.sensor_values[int(sensor_num)]
except IndexError:
print 'no data at that index'
continue
threshold = r.data.thresholds['sensor'+sensor_num]
guessed_reading = utils.estimated_reading(real_distance, threshold)
print 'guessed reading: %.2f real reading: %.2f error: %.2f' % (guessed_reading, real_reading, abs(guessed_reading-real_reading))
