def make_data(N, num_landmarks, world_size, measurement_range, motion_noise,
measurement_noise, distance):
# check if data has been made
complete = False
while not complete:
data = []
# make robot and landmarks
r = Robot(world_size, measurement_range, motion_noise,
measurement_noise)
r.make_landmarks(num_landmarks)
seen = [False for row in range(num_landmarks)]
# guess an initial motion
orientation = random.random() * 2.0 * pi
dx = cos(orientation) * distance
dy = sin(orientation) * distance
for k in range(N - 1):
# collect sensor measurements in a list, Z
Z = r.sense()
# check off all landmarks that were observed
for i in range(len(Z)):
seen[Z[i][0]] = True
# move
while not r.move(dx, dy):
# if we'd be leaving the robot world, pick instead a new direction
orientation = random.random() * 2.0 * pi
dx = cos(orientation) * distance
dy = sin(orientation) * distance
# collect/memorize all sensor and motion data
data.append([Z, [dx, dy]])
# we are done when all landmarks were observed; otherwise re-run
complete = (sum(seen) == num_landmarks)
print(' ')
print('Landmarks: ', r.landmarks)
print(r)
return data
def test_sense():
world_size = 10.0 # size of world (square)
measurement_range = 5.0 # range at which we can sense landmarks
motion_noise = 0.2 # noise in robot motion
measurement_noise = 0.2 # noise in the measurements
# instantiate a robot, r
rob = Robot(world_size, measurement_range, motion_noise, measurement_noise)
num_landmarks = 3
rob.make_landmarks(num_landmarks)
# print out our robot's exact location
print(rob)
# display the world including these landmarks
display_world(int(world_size), [rob.x, rob.y], rob.landmarks)
# print the locations of the landmarks
print('Landmark locations [x,y]: ', rob.landmarks)
measurements = rob.sense()
assert len(measurements) == 3, "rob did not sense all 3 landmarks"
print(measurements)
