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hw3-5

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1 parent 6e03c5a commit 291a07653303d86cfff6730b9914006866e7ed39 huanghuang committed Mar 11, 2012
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  1. +171 −0 hw3-5.py
  2. +329 −0 hw3-final.py
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+# --------------
+# USER INSTRUCTIONS
+#
+# Write a function in the class robot called sense()
+# that takes self as input
+# and returns a list, Z, of the four bearings* to the 4
+# different landmarks. you will have to use the robot's
+# x and y position, as well as its orientation, to
+# compute this.
+#
+# *bearing is defined in the video
+# which accompanies this problem.
+#
+# For now, please do NOT add noise to your sense function.
+#
+# Please do not modify anything except where indicated
+# below.
+#
+# There are test cases provided at the bottom which you are
+# free to use. If you uncomment any of these cases for testing
+# make sure that you re-comment it before you submit.
+
+from math import *
+import random
+
+# --------
+#
+# the "world" has 4 landmarks.
+# the robot's initial coordinates are somewhere in the square
+# represented by the landmarks.
+#
+# NOTE: Landmark coordinates are given in (y, x) form and NOT
+# in the traditional (x, y) format!
+
+landmarks = [[0.0, 100.0], [0.0, 0.0], [100.0, 0.0], [100.0, 100.0]] # position of 4 landmarks in (y, x) form.
+world_size = 100.0 # world is NOT cyclic. Robot is allowed to travel "out of bounds"
+
+# ------------------------------------------------
+#
+# this is the robot class
+#
+
+class robot:
+
+ # --------
+ # init:
+ # creates robot and initializes location/orientation
+ #
+
+ def __init__(self, length = 10.0):
+ self.x = random.random() * world_size # initial x position
+ self.y = random.random() * world_size # initial y position
+ self.orientation = random.random() * 2.0 * pi # initial orientation
+ self.length = length # length of robot
+ self.bearing_noise = 0.0 # initialize bearing noise to zero
+ self.steering_noise = 0.0 # initialize steering noise to zero
+ self.distance_noise = 0.0 # initialize distance noise to zero
+
+
+
+ def __repr__(self):
+ return '[x=%.6s y=%.6s orient=%.6s]' % (str(self.x), str(self.y),
+ str(self.orientation))
+
+
+ # --------
+ # set:
+ # sets a robot coordinate
+ #
+
+ def set(self, new_x, new_y, new_orientation):
+ if new_orientation < 0 or new_orientation >= 2 * pi:
+ raise ValueError, 'Orientation must be in [0..2pi]'
+ self.x = float(new_x)
+ self.y = float(new_y)
+ self.orientation = float(new_orientation)
+
+ # --------
+ # set_noise:
+ # sets the noise parameters
+ #
+
+ def set_noise(self, new_b_noise, new_s_noise, new_d_noise):
+ # makes it possible to change the noise parameters
+ # this is often useful in particle filters
+ self.bearing_noise = float(new_b_noise)
+ self.steering_noise = float(new_s_noise)
+ self.distance_noise = float(new_d_noise)
+
+ ############# ONLY ADD/MODIFY CODE BELOW HERE ###################
+
+ # --------
+ # sense:
+ # obtains bearings from positions
+ #
+
+ def sense(self): #do not change the name of this function
+ Z = []
+ bearing1 = atan2(landmarks[0][0]-self.y, landmarks[0][1]-self.x) - self.orientation + 2*pi
+ bearing2 = atan2(landmarks[1][0]-self.y, landmarks[1][1]-self.x) - self.orientation + 2*pi
+ bearing3 = atan2(landmarks[2][0]-self.y, landmarks[2][1]-self.x) - self.orientation
+ bearing4 = atan2(landmarks[3][0]-self.y, landmarks[3][1]-self.x) - self.orientation
+ Z = [bearing1, bearing2, bearing3, bearing4]
+
+ # ENTER CODE HERE
+ # HINT: You will probably need to use the function atan2()
+
+ return Z #Leave this line here. Return vector Z of 4 bearings.
+
+ ############## ONLY ADD/MODIFY CODE ABOVE HERE ####################
+
+
+## IMPORTANT: You may uncomment the test cases below to test your code.
+## But when you submit this code, your test cases MUST be commented
+## out. Our testing program provides its own code for testing your
+## sense function with randomized initial robot coordinates.
+
+## --------
+## TEST CASES:
+
+
+
+##
+## 1) The following code should print the list [6.004885648174475, 3.7295952571373605, 1.9295669970654687, 0.8519663271732721]
+
+"""
+length = 20.
+bearing_noise = 0.0
+steering_noise = 0.0
+distance_noise = 0.0
+
+myrobot = robot(length)
+myrobot.set(30.0, 20.0, 0.0)
+myrobot.set_noise(bearing_noise, steering_noise, distance_noise)
+
+print 'Robot: ', myrobot
+print 'Measurements: ', myrobot.sense()
+"""
+
+
+## IMPORTANT: You may uncomment the test cases below to test your code.
+## But when you submit this code, your test cases MUST be commented
+## out. Our testing program provides its own code for testing your
+## sense function with randomized initial robot coordinates.
+
+
+##
+## 2) The following code should print the list [5.376567117456516, 3.101276726419402, 1.3012484663475101, 0.22364779645531352]
+
+"""
+length = 20.
+bearing_noise = 0.0
+steering_noise = 0.0
+distance_noise = 0.0
+
+myrobot = robot(length)
+myrobot.set(30.0, 20.0, pi / 5.0)
+myrobot.set_noise(bearing_noise, steering_noise, distance_noise)
+
+print 'Robot: ', myrobot
+print 'Measurements: ', myrobot.sense()
+"""
+
+
+
+## IMPORTANT: You may uncomment the test cases below to test your code.
+## But when you submit this code, your test cases MUST be commented
+## out. Our testing program provides its own code for testing your
+## sense function with randomized initial robot coordinates.
+
+
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