Created
March 31, 2020 12:30
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class robot: | |
#move function | |
def move(self, dx, dy): | |
x = self.x + dx + self.rand() * self.motion_noise | |
y = self.y + dy + self.rand() * self.motion_noise | |
if x < 0.0 or x > self.world_size or y < 0.0 or y > self.world_size: | |
return False | |
else: | |
self.x = x | |
self.y = y | |
return True | |
#sense function | |
def sense(self): | |
measurements = [] | |
for landmark_index, landmark in enumerate(self.landmarks): | |
landmark_distance_x = landmark[0] | |
landmark_distance_y = landmark[1] | |
random_noise = self.rand() | |
cal_dx = self.x - landmark_distance_x + random_noise * self.measurement_noise | |
cal_dy = self.y - landmark_distance_y + random_noise * self.measurement_noise | |
is_not_in_measurement_range = self.measurement_range == -1 | |
if(is_not_in_measurement_range) or ((abs(cal_dx) <= self.measurement_range) and (abs(cal_dy) <= self.measurement_range)): | |
measurements.append([landmark_index, cal_dx, cal_dy]) | |
return measurements |
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