# val = range(10,60,10)
# for i in val:
# drunkWalkCase(i)
def drunkWalkCase(i):
# 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
import numpy as np
from Sim.case import Case
import sys, traceback
import scipy.io
import progressbar as pb
# import time
import os
def main():
print "Running SugarMapSim"
drunkWalkCase(0)
def drunkWalkCase(i):
case = Case("DrunkWalk", "./ArenaMaps/testbed.bmp")
case.cov_algo = "drunkwalk"
case.start = [1,1]
case.end = [5,8]
# case = Case("DrunkWalk_Maps", "./ArenaMaps/7room_slam_map_small.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 = 4
case.num_anchors = 6
# Noises
def drunkWalkCase(i):
case = Case("DrunkWalk", "./ArenaMaps/testbed.bmp")
case.cov_algo = "drunkwalk"
case.start = [1,1]
case.end = [5,8]
# case = Case("DrunkWalk_Maps", "./ArenaMaps/7room_slam_map_small.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 = 4
case.num_anchors = 6
# Noises
case.noise_radio = 0.5
case.noise_turn = 0.2
case.noise_velocity = 0.2
case.noise_mag = 30
case.fail_prob = 0
case.rf_signature_db = []
# Particle filter settings
case.stop_on_all_covered = True
case.num_particles = 100
# Display
case.is_display_on_real = False
# Run case
case.num_total_run = 360
case.max_iterations = 5
case.deltick = 1
runCase(case)
def drunkWalkCase(i):
# case = Case("DrunkWalk")
# case.cov_algo = "drunkwalk"
# case.start = [4,4]
# case.end = [46,46]
case = Case("DrunkWalk_BiasedRandom", "./ArenaMaps/6room_map_small/6room_map.bmp")
case.cov_algo = "drunkwalk_biased"
case.goal_graph = goalgraph.GoalGraph()
case.num_explorers = i
case.num_anchors = 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
# Particle filter settings
case.stop_on_all_covered = True
case.num_particles = 100
# Display
case.is_display_on_real = False
# Run case
case.num_total_run = 1000
case.max_iterations = 10
case.deltick = 1
runCase(case)
# val = range(10,60,10)
# for i in val:
# drunkWalkCase(i)
def drunkWalkCase(i):
# 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_13room",
"./ArenaMaps/13room_slam_map/nsh_level_a.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 = 10
case.num_anchors = 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
# for i in val:
# drunkWalkCase(i)
val = range(5, 26, 5)
for i in val:
drunkWalkCase(i)
def drunkWalkCase(i):
# case = Case("DrunkWalk")
# case.cov_algo = "drunkwalk"
# case.start = [4,4]
# case.end = [46,46]
case = Case("DrunkWalk_BiasedRandom",
"./ArenaMaps/6room_map_small/6room_map.bmp")
case.cov_algo = "drunkwalk_biased"
case.goal_graph = goalgraph.GoalGraph()
case.num_explorers = i
case.num_anchors = 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
# Particle filter settings
case.stop_on_all_covered = True
# for i in val:
# drunkWalkCase(i)
val = range(1,11,2)
for i in val:
drunkWalkCase(i)
def drunkWalkCase(i):
# case = Case("DrunkWalk")
# case.cov_algo = "drunkwalk"
# case.start = [4,4]
# case.end = [46,46]
case = Case("DrunkWalk_FingerPrint", "./ArenaMaps/6room_map_small/6room_map.bmp")
case.cov_algo = "drunkwalk_biased"
case.goal_graph = goalgraph.GoalGraph()
case.num_explorers = 10
case.num_anchors = 5
# Noises
case.noise_radio = i
case.noise_turn = 0.2
case.noise_velocity = 0.2
case.noise_mag = 30
case.fail_prob = 0
# Particle filter settings
def drunkWalkCase(i):
#def drunkWalkCase():
print "running DrunkWalk"
case = Case("DrunkWalk", "./ArenaMaps/testbed" + mapsize + ".bmp")
case.cov_algo = "drunkwalk"
case.start = [1,1]
case.end = [25,30]#[8,11]#[25,25]
# case.map_array[case.end[0],case.end[1]] = 2 # added by xinlei
#case.map_array[25,26] = 2 # added by xinlei
#case.map_array[25,24] = 2 # added by xinlei
#case.map_array[24,24] = 2 # added by xinlei
#case.map_array[24,25] = 2 # added by xinlei
#case.map_array[24,26] = 2 # added by xinlei
#case.map_array[26,26] = 2 # added by xinlei
#case.map_array[26,24] = 2 # added by xinlei
#case.map_array[26,25] = 2 # added by xinlei
# case = Case("DrunkWalk_Maps", "./ArenaMaps/7room_slam_map_small.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 = 1#1
case.num_anchors =6#3#6
# Noises
case.noise_radio = 0.01#0.1
case.noise_turn = 0.2
case.noise_velocity = 0.2
case.noise_mag = 30
case.fail_prob = 0
# Import the database of collected RF signatures
'''
raw = np.loadtxt("./ArenaMaps/testbed_sigs/sensorfly_x_y_time_id_rss.txt", delimiter=',');
#raw = np.loadtxt("./ArenaMaps/testbed_sigs/fingerprint36*27.txt", delimiter=',');
for i in range(0,9):
for j in range(0,12):
idxX = raw[:,0] == i
idxY = raw[:,1] == j
idx = idxX & idxY
id_sigs = raw[idx,:][:,[2,3]]
for k in range(1, case.num_anchors+1):
idxK = id_sigs[:,0] == k
if idxK.size != 0:
rss = id_sigs[idxK,1]
else:
rss = np.array([0])
case.rf_signature_db[(i,j,k)] = rss
'''
# Particle filter settings
case.stop_on_all_covered = True
case.num_particles = 100
# Display
case.is_display_on_real = False
# Run case
case.num_total_run = 14000#360
case.max_iterations = 1#5
case.deltick = 1
runCase(case)
