def __init__(self):
self.nlp = spacy.load('en')
self.word_vectors = sense2vec.load()
self.handlers = {
'similar': Sense(self.nlp, self.word_vectors),
'parse': Parse(self.nlp),
'vector': Sense(self.nlp, self.word_vectors),
#'intent': Intent(self.nlp, self.word_vectors)
# 'converse':
# 'person':
# 'address':
# 'date':
# 'email':
}
def _buildSenseAct(self, agent, sense_name):
"""Returns a sense-act object for the given name.
@param agent: The agent to build the sense-act for.
@type agent: L{POSH.strict.Agent}
@param sense_name: The name of the sense-act.
@type sense_name: string
@return: The created sense-act object
@rtype: L{POSH.strict.Sense}
"""
return Sense(agent, sense_name)
def proc_elem(this_elem):
if type(this_elem) is ListType:
return map(proc_elem, this_elem)
elif (type(this_elem) is InstanceType) and \
isinstance(this_elem, Sense):
return Sense(sensor=this_elem.sensor,
sense_value=sense_value,
sense_predicate=sense_predicate,
drive_name=drive_name,
agent=self.agent)
else:
return this_elem
def __init__(self):
config = configparser.ConfigParser()
config.read("config.ini")
IN_1 = config.getint("car","IN1")
IN_2 = config.getint("car","IN2")
IN_3 = config.getint("car","IN3")
IN_4 = config.getint("car","IN4")
self.change_speed = ChangeSpeed()
self.motor = Motor(IN_1, IN_2, IN_3, IN_4)
self.sense = Sense()
self.qaudio = QAudio(4000)
self.led_light = LED_Light()
def _buildSense(self, agent, sense_struct):
"""Returns a sense object for the given structure.
The structure is of the form (name, value, predicate), where
the first is a string, and the other two elements are either
a string or None.
@param agent: The agent to build the sense for.
@type agent: L{POSH.strict.Agent}
@param sense_struct: The sense structure.
@type sense_struct: described above
@return: The created sense object
@rtype: L{POSH.strict.Sense}
@raise NameError: If the sense could not be found in the
behaviour dictionary.
"""
return Sense(agent, sense_struct[0], sense_struct[1], sense_struct[2])
from motionModel import MotionModel
from controller import Robot,Motor
from particleFilter import particleFilter
from sense import Sense
from action import rotate
import time
robot = Robot()
#load sensor model, motion model and map.
s = SensorModel(SensorModelDir)
m = Map(MapFile,EnvFile,OutputDirectory)
l = MotionModel(linearMotionModelData,rotationalMotionModelData)
#initialize sensors
sonarSensors = Sense(robot)
#initialize motors
leftMotor = robot.getMotor('left wheel motor')
rightMotor = robot.getMotor('right wheel motor')
rightMotor.setPosition(float('inf'))
leftMotor.setPosition(float('inf'))
rightMotor.setVelocity(0.0)
leftMotor.setVelocity(0.0)
motors = {"left":leftMotor,"right":rightMotor}
#initialize encoders
leftPosiotionSensor = robot.getPositionSensor("left wheel sensor")
rightPosiotionSensor = robot.getPositionSensor("right wheel sensor")
leftPosiotionSensor.enable(TimeStep)
rightPosiotionSensor.enable(TimeStep)
