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)

Function Documentation

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.