def transition(self):
"""
Resample around current point, taking into account whatever we know about the robot's capacity for movement.
"""
self.x, self.y = robot.new_robot_coordinates(self.x, self.y)
#self.x, self.y = robot.undirected_new_robot_coordinates(self.x, self.y)
return
def generate_coordinates(self, count):
"""Generate beacon coordinates based on random movement of robot."""
coordinates = []
actual_x = random.normalvariate(0, 1)
actual_y = random.normalvariate(0, 1)
x = y = 0.0
for i in range(count):
# move the robot and generate new beacon readings with random
# offsets from actual robot coordinates (to simulate noise)
beacon_x, beacon_y = robot.beacon_readings(actual_x, actual_y)
coordinates.append([actual_x, actual_y, beacon_x, beacon_y])
actual_x, actual_y = robot.new_robot_coordinates(actual_x, actual_y)
return coordinates
