Created
March 31, 2020 13:01
-
-
Save ksheersaagr/b0b2548dbb02393813a6c728afa1976c to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
def initialize_constraints(N, num_landmarks, world_size): | |
''' This function takes in a number of time steps N, number of landmarks, and a world_size, | |
and returns initialized constraint matrices, omega and xi.''' | |
middle_of_the_world = world_size / 2 | |
## Recommended: Define and store the size (rows/cols) of the constraint matrix in a variable | |
rows, cols = 2*(N + num_landmarks), 2*(N + num_landmarks) | |
## TODO: Define the constraint matrix, Omega, with two initial "strength" values | |
omega = np.zeros(shape = (rows, cols)) | |
## for the initial x, y location of our robot | |
#omega = [0] | |
omega[0][0], omega[1][1] = 1,1 | |
## TODO: Define the constraint *vector*, xi | |
## you can assume that the robot starts out in the middle of the world with 100% confidence | |
#xi = [0] | |
xi = np.zeros(shape = (rows, 1)) | |
xi[0][0] = middle_of_the_world | |
xi[1][0] = middle_of_the_world | |
return omega, xi |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment