class Robot:
def __init__(self, map, display):
# environment inits
self.landmarks = map["landmarks"]
self.goals = map["goals"]
self.currentGoal = 0
self.currentPos = map["initial_position"]
self.currentAngle = map["initial_angle"]
self.num_particles = map["num_particles"]
self.dist_per_frame = map["distance_per_frame"]
self.rot_per_frame = math.radians(map["rotation_per_frame"])
# noise stds
self.move_std = map["noise"]["move_std"]
self.rotate_std = map["noise"]["rotate_std"]
# display init
self.display = display
self.cmd_msg = "Waiting for commands..."
# localization
self.localization = Localization(self.num_particles,
map["dimensions"]["width"],
map["dimensions"]["height"],
map["noise"])
#estimated positions
self.estimatedPos, self.estimatedAngle = self.localization.estimate_position(
)
def move(self, distance):
frames = int(distance / self.dist_per_frame)
# movement to the calculated point
for i in range(frames):
# error is added at each frame
dist_with_noise = self.dist_per_frame + np.random.randn(
) * self.move_std
incx = math.cos(self.currentAngle) * dist_with_noise
incy = math.sin(self.currentAngle) * dist_with_noise
# motion update (robot and particles)
self.currentPos = [
self.currentPos[0] + incx, self.currentPos[1] + incy
]
self.localization.motion_update(self.dist_per_frame, 0)
self.estimatedPos, self.estimatedAngle = self.localization.estimate_position(
)
self.display.drawFrame(self)
# sense and update
self.localization.sensor_update(self.landmarks, self.currentPos,
self.currentAngle)
self.localization.resample()
# estimate position
self.estimatedPos, self.estimatedAngle = self.localization.estimate_position(
)
def rotate(self, angle):
# calculate difference and direction of rotation
if angle > self.estimatedAngle:
if angle - self.estimatedAngle <= math.pi:
dif_angle = angle - self.estimatedAngle
dir_rot = 1
else:
dif_angle = 2 * math.pi - (angle - self.estimatedAngle)
dir_rot = -1
else:
if self.estimatedAngle - angle <= math.pi:
dif_angle = self.estimatedAngle - angle
dir_rot = -1
else:
dif_angle = 2 * math.pi - (self.estimatedAngle - angle)
dir_rot = 1
frames = int(dif_angle / self.rot_per_frame)
# rotation to calculated angle
for i in range(frames):
# add noise
rot_with_noise = self.rot_per_frame + np.random.randn(
) * self.rotate_std
# motion update
self.currentAngle = self.currentAngle + rot_with_noise * dir_rot
if self.currentAngle < 0:
self.currentAngle = self.currentAngle + math.pi * 2
if self.currentAngle >= math.pi * 2:
self.currentAngle = self.currentAngle - math.pi * 2
self.localization.motion_update(0, self.rot_per_frame * dir_rot)
self.estimatedPos, self.estimatedAngle = self.localization.estimate_position(
)
self.display.drawFrame(self)
# sense and update
self.localization.sensor_update(self.landmarks, self.currentPos,
self.currentAngle)
self.localization.resample()
# estimate position
self.estimatedPos, self.estimatedAngle = self.localization.estimate_position(
)
def random_moves(self):
self.cmd_msg = "Taking random moves..."
rand_rot = np.random.uniform(0, 2 * math.pi)
rand_dist = np.random.uniform(0, 100)
self.rotate(rand_rot)
self.move(rand_dist)
# main execution loop
def begin(self):
while len(self.goals) > self.currentGoal:
self.display.drawFrame(self)
# check position
difx = self.goals[self.currentGoal][0] - self.estimatedPos[0]
dify = self.goals[self.currentGoal][1] - self.estimatedPos[1]
if abs(difx) < 10 and abs(dify) < 10:
print("Position reached, rotate to plant")
orientated = False
# rotate to plant
while not orientated:
# get angle of orientation to plant
difx = self.landmarks[
self.currentGoal][0] - self.estimatedPos[0]
dify = self.landmarks[
self.currentGoal][1] - self.estimatedPos[1]
if difx != 0:
angle = math.atan(dify / difx)
else:
if dify < 0:
angle = -math.pi / 2
else:
angle = -math.pi / 2
# normalize angle between 0 and 2*pi
if difx < 0:
angle = math.pi + angle
if angle < 0:
angle = angle + math.pi * 2
self.cmd_msg = "Rotating to plant..."
self.rotate(angle)
if abs(self.estimatedAngle - angle) < math.pi / 50:
orientated = True
print("Goal reached! Take photo.")
self.cmd_msg = "Taking photo..."
self.currentGoal += 1
else:
print("Move to goal")
# rotate to position
if difx != 0:
angle = math.atan(dify / difx)
else:
if dify < 0:
angle = -math.pi / 2
else:
angle = -math.pi / 2
# normalize angle between 0 and 2*pi
if difx < 0:
angle = math.pi + angle
if angle < 0:
angle = angle + math.pi * 2
self.cmd_msg = "Rotating to goal..."
self.rotate(angle)
# move to position
distance = math.sqrt(difx**2 + dify**2)
# cut long distances to avoid big decompensation with the estimated position
if distance > 100:
distance = 100
self.cmd_msg = "Moving to goal..."
self.move(distance)
def finish(self):
self.cmd_msg = "All goals achieved!"
# wait 50 frames before closing window
for i in range(50):
self.display.drawFrame(self)
self.display.finish()
