pfilter::test_object_motion Namespace Reference

Functions
def	to_pos
Variables
tuple	app_model = da.DetectionAppearance(cov=np.matrix([[(.03*.03), 0], [0, (.03*.03)]]))
tuple	cur_pos = pose.pos.copy()
	cur_set = particles
tuple	display = nd.RobotDisp("particle filter", size = 2, draw_center=True, meters_radius=10)
tuple	draw_func = ft.partial(da.draw_weighted_2D, display, max_weight)
tuple	filter = pf.PFilter(motion_model, app_model)
tuple	max_weight = app_model.weight(np.matrix([1.0, 0.0]).T, np.matrix([1.0, 0.0]).T)
tuple	motion_model = om.ObjectMotion(robot_motion)
tuple	mvar = rm.motion_var()
tuple	particles = map(to_pos, rm.make_set(mvar, pose, 100))
tuple	pose = t2d.Pose2D(2.0, 0.0, 0.0)
tuple	robot_motion = rm.RobotMotion(mvar)
tuple	velocity = np.matrix([1.0, 0.0])

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Function Documentation

def pfilter.test_object_motion.to_pos

(

p

)

Definition at line 21 of file test_object_motion.py.

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Variable Documentation

tuple pfilter::test_object_motion::app_model = da.DetectionAppearance(cov=np.matrix([[(.03*.03), 0], [0, (.03*.03)]]))

Definition at line 28 of file test_object_motion.py.

tuple pfilter::test_object_motion::cur_pos = pose.pos.copy()

Definition at line 35 of file test_object_motion.py.

pfilter::test_object_motion::cur_set = particles

Definition at line 36 of file test_object_motion.py.

tuple pfilter::test_object_motion::display = nd.RobotDisp("particle filter", size = 2, draw_center=True, meters_radius=10)

Definition at line 31 of file test_object_motion.py.

tuple pfilter::test_object_motion::draw_func = ft.partial(da.draw_weighted_2D, display, max_weight)

Definition at line 34 of file test_object_motion.py.

tuple pfilter::test_object_motion::filter = pf.PFilter(motion_model, app_model)

Definition at line 30 of file test_object_motion.py.

tuple pfilter::test_object_motion::max_weight = app_model.weight(np.matrix([1.0, 0.0]).T, np.matrix([1.0, 0.0]).T)

Definition at line 33 of file test_object_motion.py.

tuple pfilter::test_object_motion::motion_model = om.ObjectMotion(robot_motion)

Definition at line 27 of file test_object_motion.py.

tuple pfilter::test_object_motion::mvar = rm.motion_var()

Definition at line 20 of file test_object_motion.py.

tuple pfilter::test_object_motion::particles = map(to_pos, rm.make_set(mvar, pose, 100))

Definition at line 23 of file test_object_motion.py.

tuple pfilter::test_object_motion::pose = t2d.Pose2D(2.0, 0.0, 0.0)

Definition at line 17 of file test_object_motion.py.

tuple pfilter::test_object_motion::robot_motion = rm.RobotMotion(mvar)

Definition at line 26 of file test_object_motion.py.

tuple pfilter::test_object_motion::velocity = np.matrix([1.0, 0.0])

Definition at line 16 of file test_object_motion.py.