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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)
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