def turn(self,direction):
if direction not in self.Directions: direction = random.choice(self.Directions)
self.pomdp.observed = None
PrintRobot.turn(self,direction)
cost,obs = self.pomdp.perform(self.Directions[direction])
self.viewCache.update(direction,obs)
return cost,obs
def travel(self):
self.pomdp.observed = None
PrintRobot.travel(self)
if not self.pomdp.observed:
logger.info('travel observing...')
self.pomdp.observe()
self.viewCache.update(Front,self.pomdp.observed)
logger.info("post travel obs: %r; viewCache: %r", self.pomdp.observed, self.viewCache)
return self.pomdp.perform('TravelFwd')
def recognize(self,description):
PrintRobot.recognize(self,description)
if not self.pomdp.observed:
logger.info('recognize observing...')
self.pomdp.observe()
logger.info('Observed %r',self.pomdp.observed)
self.viewCache.update(At,self.pomdp.observed)
for desc in description:
logger.info('.....Examining %s\n.....for %r', self.pomdp.observed, desc)
if self.NLUQueue: self.NLUQueue.put(('Recognize', repr(desc)))
turnDir,descSide = self.getLookTurn(desc)
match = self.recognizer.recDesc(desc, self.viewCache)
self.turnBack(turnDir,descSide)
if not match:
logger.info('.....Did NOT recognize %r',desc)
return False
logger.info('.....Recognized %r',desc)
logger.info('.....Recognized entire description!')
return True
def declareGoal(self):
PrintRobot.declareGoal(self)
cost, obs = self.pomdp.perform('DeclareGoal')
self.completed = (cost < 0)
return cost, obs
def teleport(self, pose):
PrintRobot.teleport(self, pose)
self.pomdp.observed = None
self.pomdp.set(pose)
def setRoute(self, Start, Dest):
PrintRobot.setRoute(self, Start, Dest)
self.pomdp.setRoute(Start, Dest)
self.teleport(Start)
def declareGoal(self):
PrintRobot.declareGoal(self)
cost,obs = self.pomdp.perform('DeclareGoal')
self.completed = (cost < 0)
return cost,obs
def teleport(self,pose):
PrintRobot.teleport(self,pose)
self.pomdp.observed = None
self.pomdp.set(pose)
self.viewCache.reset()
def setRoute(self,Start,Dest):
PrintRobot.setRoute(self,Start,Dest)
self.pomdp.setRoute(Start,Dest)
self.teleport(Start)
