def computeIdealReadings(worldPath, xMin, xMax, y, numStates, numObs):
"""
:param worldPath: string naming file to read the world description from
:param xMin: minimum x coordinate for center of robot
:param xMax: maximum x coordinate for center of robot
:param y: constant y coordinate for center of robot
:param numStates: number of discrete states into which to divide
the range of x coordinates
:param numObs: number of discrete observations into which to
divide the range of good sonar observations, between 0 and ``goodSonarRange``
:returns: list of ``numStates`` values, each of which is between 0
and ``numObs-1``, which lists the ideal discretized sonar reading
that the robot would receive if it were at the midpoint of each of
the x bins.
"""
# read obstacles from the map
world = soarWorld.SoarWorld(worldPath)
xStep = (xMax - xMin) / float(numStates)
readings = []
# Start in the middle of the first box
x = xMin + (xStep / 2.0)
for ix in range(numStates):
# left-hand sonar reading assuming we're heading to the right
readings.append(discreteSonarValue(\
idealSonarReading(util.Pose(x, y, 0),
sonarDist.sonarPoses[0], world),
numObs))
x = x + xStep
return readings
def __init__(self, worldPath, gridSquareSize, windowWidth = 400):
"""
Reads in a world file. Gets boundary dimensions and aspect
ratio from there. Grid cells are square, with size gridSquareSize
@param worldPath: String representing path to a soar world
definition file
@param gridSquareSize: size, in world coordinates, of a grid
square
@param windowWidth: size, in pixels, to make the window for
drawing this map
"""
self.world = soarWorld.SoarWorld(worldPath)
gridMap.GridMap.__init__(self, 0, float(self.world.dimensions[0]),
0, float(self.world.dimensions[1]),
gridSquareSize, windowWidth)