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1 files changed, 21 insertions, 0 deletions

diff --git a/murl/particles/baseline.py b/murl/particles/baseline.py
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index 0000000..2d8e045
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+++ b/murl/particles/baseline.py
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+from murl.particles import ParticleCloud
+from murl.sensors import CONE_WIDTH
+
+import numpy as np
+from scipy.stats import norm
+
+class Cloud(ParticleCloud):
+    def calculate_weight(self, angle_dists, _robot_guesses, _robot_scans):
+        self._particles[:,3] = 0.0
+        mask = self._world.is_valid(self._particles)
+        self._particles[~mask,3] = float('-inf')
+        count = np.ma.array(self._particles[:,3], mask=~mask).count()
+
+        for angle, dist in angle_dists:
+            angles = angle + self._rng.uniform(-CONE_WIDTH/2, CONE_WIDTH/2,
+                                               (self.RAY_SAMPLES, count))
+            true_dists = self._world.get_dist(self._particles[mask], angles)
+            if np.isfinite(dist):
+                self._particles[mask,3] += norm.logpdf(dist, true_dists, 0.8)
+            else:
+                self._particles[mask,3] += norm.logsf(3, true_dists, 0.8)