Classes | |
class | motion_var |
class | move2d |
Functions for sampling over 2D robot poses. More... | |
class | RobotMotion |
Functions | |
def | draw_weighted_Pose2D |
def | get_odom_sample |
def | get_odom_samples |
def | make_set |
def | make_set_gauss |
def | p2d_to_move2d |
def | sample_rot1 |
def | sample_rot2 |
def | sample_trans |
Variables | |
tuple | app_model = DetectionAppearance() |
tuple | cov = np.eye(3) |
tuple | disp = nd.RobotDisp() |
tuple | motion_model = RobotMotion(motion_var(rotvar=rotvar, transvar=transfar)) |
tuple | rotvar = (0.8, 0.2) |
tuple | transvar = (0.1, 0.9) |
def pfilter.robot_motion.draw_weighted_Pose2D | ( | display, | |
max_weight, | |||
particles | |||
) |
Definition at line 177 of file robot_motion.py.
def pfilter.robot_motion.get_odom_sample | ( | motion_variances, | |
motion | |||
) |
Get a pose sample using odometry motion model (from Probabilistic Robotics p. 136) use this method to get a sample pose, ignore others motion - odometry in p2d format s - state in p2d format from time t-1 motion_variances - motion variances returns a new p2d, a perturbed version of motion+s
Definition at line 112 of file robot_motion.py.
def pfilter.robot_motion.get_odom_samples | ( | cov, | |
s, | |||
motion, | |||
num_particles | |||
) |
Get a pose sample, use this function to get multiple samples from robot motion model
Definition at line 102 of file robot_motion.py.
def pfilter.robot_motion.make_set | ( | cov, | |
start_state, | |||
num_particles | |||
) |
Init a bunch of particles to be exactly at start state
Definition at line 32 of file robot_motion.py.
def pfilter.robot_motion.make_set_gauss | ( | cov, | |
start_state, | |||
num_particles | |||
) |
Initialize a gaussian distribution around start state
Definition at line 37 of file robot_motion.py.
def pfilter.robot_motion.p2d_to_move2d | ( | odom | ) |
Decompose odometry readings into three components initial rotation translation final rotation odom - a differential reading between this and the last time step
Definition at line 84 of file robot_motion.py.
def pfilter.robot_motion.sample_rot1 | ( | odom, | |
odom_cov | |||
) |
Definition at line 145 of file robot_motion.py.
def pfilter.robot_motion.sample_rot2 | ( | odom, | |
odom_cov | |||
) |
Definition at line 167 of file robot_motion.py.
def pfilter.robot_motion.sample_trans | ( | odom, | |
odom_cov | |||
) |
Definition at line 156 of file robot_motion.py.
tuple pfilter::robot_motion::app_model = DetectionAppearance() |
Definition at line 244 of file robot_motion.py.
tuple pfilter::robot_motion::cov = np.eye(3) |
Definition at line 243 of file robot_motion.py.
tuple pfilter::robot_motion::disp = nd.RobotDisp() |
Definition at line 245 of file robot_motion.py.
tuple pfilter::robot_motion::motion_model = RobotMotion(motion_var(rotvar=rotvar, transvar=transfar)) |
Definition at line 241 of file robot_motion.py.
tuple pfilter::robot_motion::rotvar = (0.8, 0.2) |
Definition at line 239 of file robot_motion.py.
tuple pfilter::robot_motion::transvar = (0.1, 0.9) |
Definition at line 240 of file robot_motion.py.