Beacon(np.array([0.2, 0.8]))] #obstacles = [RectangularObstacle(np.array([[0.75, 0.2], [0.75, 0.4], [0.85, 0.4], [0.85,0.2]], float).T),\ # RectangularObstacle(np.array([[0.5,0.85], [1.15,0.85], [1.15,0.6], [0.5,0.6]], float).T)] obstacles=[] s = SimEnv2D(bounds=[-0.1, 1.5, -0.1, 1], beacons=beacons, obstacles=obstacles) ball = np.array([1.4, 0.30]) x0 = np.array([0, 0.5, 0, 0]) car = SimpleCar(x0) car.attach_sensor(BeaconSensor(decay_coeff=25), lambda x: x[0:2]) localizer = LocalizerBot(car,ball) x0 = np.mat(localizer.x) localizer.attach_sensor(FOVSensor(localizer.x, fov_angle=2*pi, decay_coeff=25), lambda x: localizer.fov_state(x)) s.add_robot(localizer) # Number of timesteps T = 30 #arg # Dynamics and measurement noise num_states = localizer.NX num_ctrls = localizer.NU num_measure = len(beacons)+1+1 #arg/make part of robot observe Q = np.mat(np.diag([1e-5]*num_states)) #arg Q[2,2] = 1e-8 # Gets out of hand if noise in theta or phi Q[3,3] = 1e-8 # Can also add theta/phi to measurement like Sameep #TODO? Q[4,4] = 1e-10 # Can also add theta/phi to measurement like Sameep #TODO? Q[5,5] = 1e-10 # Can also add theta/phi to measurement like Sameep #TODO?
Beacon(np.array([0.2, 0.8]))] #obstacles = [RectangularObstacle(np.array([[0.75, 0.2], [0.75, 0.4], [0.85, 0.4], [0.85,0.2]], float).T),\ # RectangularObstacle(np.array([[0.5,0.85], [1.15,0.85], [1.15,0.6], [0.5,0.6]], float).T)] obstacles=[] s = SimEnv2D(bounds=[-0.1, 1.5, -0.1, 1], beacons=beacons, obstacles=obstacles) ball = np.array([1.4, 0.30]) x0 = np.array([0, 0.5, 0, 0]) car = SimpleCar(x0) car.attach_sensor(BeaconSensor(decay_coeff=25), lambda x: x[0:2]) localizer = LocalizerBot(car,ball) x0 = np.mat(localizer.x) localizer.attach_sensor(FOVSensor(localizer.x, fov_angle=2*pi, decay_coeff=25), lambda x: localizer.fov_state(x)) s.add_robot(localizer) # Number of timesteps T = 30 #arg # Dynamics and measurement noise num_states = localizer.NX num_ctrls = localizer.NU num_measure = len(beacons)+1+1 #arg/make part of robot observe Q = np.mat(np.diag([1e-5]*num_states)) #arg Q[2,2] = 1e-8 # Gets out of hand if noise in theta or phi Q[3,3] = 1e-8 # Can also add theta/phi to measurement like Sameep #TODO? Q[4,4] = 1e-10 # Can also add theta/phi to measurement like Sameep #TODO? Q[5,5] = 1e-10 # Can also add theta/phi to measurement like Sameep #TODO?
xN = np.vstack((thetaN.T, ball.T))
xN = np.reshape(xN, (4,1))
print xN
#xN = links.forward_kinematics(origin, thetaN)
#xN = np.mat(xN).T
links.attach_sensor(BeaconSensor(decay_coeff=15),
lambda x: links.forward_kinematics(origin, x))
#links.attach_sensor(BeaconSensor(decay_coeff=25), lambda x: x[0:2])
localizer = LocalizerBot(links, ball)
x0 = np.mat(localizer.x).T;
w = f = 500
localizer.attach_sensor(ExtendedCamera2D(f, localizer.x, w, ks=[-0.33, 0.1]),
lambda x: localizer.fov_state(x))
#localizer.attach_sensor(PinholeCamera2D(f, localizer.x, w),
#lambda x: localizer.fov_state(x))
s.add_robot(localizer)
T = 20
num_states = localizer.NX
num_ctrls = localizer.NU
num_measure = len(beacons)+1#+1 #arg/make part of robot observe
Q = np.mat(np.diag([1e-5]*num_states)) #arg
Q[2,2] = 1e-10
Q[3,3] = 1e-10
R = np.mat(np.diag([0.0005]*num_measure)) #arg
R[1,1] = 5e-4
#R[2,2] = 1e-3
# RectangularObstacle(np.array([[0.5,0.85], [1.15,0.85], [1.15,0.6], [0.5,0.6]], float).T)]
obstacles = []
s = SimEnv2D(bounds=[-0.1, 1.5, -0.1, 1], beacons=beacons, obstacles=obstacles)
ball = np.array([1.4, 0.30])
x0 = np.array([0, 0.5, 0, 0])
car = SimpleCar(x0)
car.attach_sensor(BeaconSensor(decay_coeff=25), lambda x: x[0:2])
localizer = LocalizerBot(car, ball)
x0 = np.mat(localizer.x)
localizer.attach_sensor(
FOVSensor(localizer.x, fov_angle=2 * pi, decay_coeff=25),
lambda x: localizer.fov_state(x))
s.add_robot(localizer)
# Number of timesteps
T = 30 #arg
# Dynamics and measurement noise
num_states = localizer.NX
num_ctrls = localizer.NU
num_measure = len(beacons) + 1 + 1 #arg/make part of robot observe
Q = np.mat(np.diag([1e-5] * num_states)) #arg
Q[2, 2] = 1e-8 # Gets out of hand if noise in theta or phi
Q[3, 3] = 1e-8 # Can also add theta/phi to measurement like Sameep #TODO?
Q[4, 4] = 1e-10 # Can also add theta/phi to measurement like Sameep #TODO?
Q[5, 5] = 1e-10 # Can also add theta/phi to measurement like Sameep #TODO?