# case = Case("DrunkWalk") # case.cov_algo = "drunkwalk" # case.start = [4,4] # case.end = [46,46] # case = Case("DrunkWalk_PProbe", "./ArenaMaps/7room_slam_map_small.bmp") # case.cov_algo = "drunkwalk_pprobe" case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/7room_slam_map_small.bmp") #case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/7room_slam_map.bmp") case.cov_algo = "drunkwalk_biased" # case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/6room_map_small/6room_map.bmp") # case.cov_algo = "drunkwalk_biased" case.goal_graph = goalgraph.GoalGraph() case.num_explorers = 6 #10 case.num_anchors = 4 #5 # Noises case.noise_radio = 0.5 case.noise_turn = 0.2 case.noise_velocity = 0.2 case.noise_mag = 20 case.fail_prob = 0 case.random_bias_prob = 0.0 # Particle filter settings case.stop_on_all_covered = True case.num_particles = 100
def reset(self): if self.goal_graph is not None: self.goal_graph = goalgraph.GoalGraph()