Sakthi Sivaraman / cse190

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Commit 0e0d30fe60094a6fbfd26db7b3bf5eda251f50f6

Authored by Sakthi Sivaraman
1 parent 482d7e9c04
Exists in master

Fixed map_utils

Showing 8 changed files with 12 additions and 11 deletions Side-by-side Diff

PA2_final2/map/stage.world View file @ 0e0d30f
... ... @@ -33,7 +33,7 @@
33 33 )
34 34  
35 35 # throw in a robot in the map
36   -robot( pose [ 225.0 15.0 0.0 0.0 ] name "robot" color "red")
  36 +robot( pose [ 125.0 90.0 0.0 0.0 ] name "robot" color "red")
37 37  
38 38 #FloorPlan Properties
39 39 define floorplan model
PA2_final2/scripts/basetruth.json View file @ 0e0d30f
1 1 {
2   -"basetruth" : [16.17761845481734, 181.58779321516556]
  2 +"basetruth" : [21.49999999999843, 179.00000000000514]
3 3 }
PA2_final2/scripts/map_utils.py View file @ 0e0d30f
... ... @@ -108,8 +108,8 @@
108 108 """
109 109 Determine the x, y cooridantes of the center of a particular grid cell.
110 110 """
111   - x = row * self.resolution + .5 * self.resolution + self.origin_x
112   - y = col * self.resolution + .5 * self.resolution + self.origin_y
  111 + x = col * self.resolution + .5 * self.resolution + self.origin_x
  112 + y = row * self.resolution + .5 * self.resolution + self.origin_y
113 113 return x, y
114 114  
115 115 def set_cell(self, x, y, val):
PA2_final2/scripts/max_limit_results.json View file @ 0e0d30f
1 1 {
2   -"max_limit_percentage" : 100.0
  2 +"max_limit_percentage" : 54.125
3 3 }
PA2_final2/scripts/metric_results.json View file @ 0e0d30f
1 1 {
2   -"metric" : [2.0, 2.4041988027113925, 7.163105861855153, 18.562799944290717, 20.32965156936095, 19.564110953508568, 27.47231178823044]
  2 +"metric" : [2.0]
3 3 }
PA2_final2/scripts/robot.py View file @ 0e0d30f
... ... @@ -36,6 +36,7 @@
36 36 total_prob = 0
37 37 #total_prob = 1
38 38 bias = 0.25
  39 + #bias = 0.1
39 40  
40 41 for i in range(0, len(xs), 10):
41 42 likelihood = likelihood_field.get_cell(xs[i], ys[i])
PA2_final2/scripts/std_dev_results.json View file @ 0e0d30f
1 1 {
2   -"std_dev_x" : [119.70247120780475, 94.51626137183102, 19.120428428954636, 13.5399583352921, 5.742967241916149, 6.188983982278429, 6.81404617949343]
  2 +"std_dev_x" : [74.00152718365908]
3 3 }
4 4 {
5   -"std_dev_y" : [100.40326940808279, 31.51687071432209, 14.241306690046551, 11.858970326300533, 5.419962588657324, 5.409203548411524, 6.859357802712588]
  5 +"std_dev_y" : [58.24639046736343]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.851280805078172, 2.214233065311416, 3.0351168587723785, 0.18732738428853796, 3.398575260214449, 3.325972556488691, 0.16363788011123948]
  8 +"std_dev_angle" : [1.8512396722819926]
9 9 }
PA2_final2/scripts/time_results.json View file @ 0e0d30f
1 1 {
2   -"time_elapsed" : [0.044350214302539825, 2.265076633542776, 4.23632775247097, 4.756045736372471, 5.3750233836472034, 5.505158584564924, 6.286220449954271]
  2 +"time_elapsed" : [0.04576059803366661]
3 3 }