Sakthi Sivaraman / cse190

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Commit 5fa8013d19e32706a53bc7747f966c1f04c750ab

Authored by Sakthi Sivaraman
1 parent 7e5eb8957b
Exists in master

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Showing 24 changed files with 123 additions and 75 deletions Side-by-side Diff

PA2_final2/logs/log_seeds3/seed_0/configuration.json View file @ 5fa8013
1 1 {
2 2  
3   - "seed": 0
  3 + "seed": 0,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
... ... @@ -8,10 +8,10 @@
8 8 [90.0,10.0,10],
9 9 [-90.0,10.0,7],
10 10 [0.0,5.0,1],
11   - [180.0,10.0,15],
12   - [0.0,5.0,1],
13   - [180.0,10.0,8],
14   - [90.0,10.0,8],
  11 + [180.0,20.0,7],
  12 + [0.0,5.0,3],
  13 + [180.0,20.0,4],
  14 + [90.0,20.0,4],
15 15 [-90.0,10.0,3],
16 16 [90.0,10.0,4],
17 17 [0.0,5.0,1],
... ... @@ -21,9 +21,9 @@
21 21 "first_move_sigma_x": 2,
22 22 "first_move_sigma_y": 2,
23 23 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.3,
25   - "resample_sigma_y": 0.3,
26   - "resample_sigma_angle": 0.026,
  24 + "resample_sigma_x": 0.1,
  25 + "resample_sigma_y": 0.1,
  26 + "resample_sigma_angle": 0.02,
27 27  
28 28 "laser_z_hit": 0.80,
29 29 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_1/configuration.json View file @ 5fa8013
1 1 {
2 2  
3   - "seed": 1
  3 + "seed": 1,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
... ... @@ -8,10 +8,10 @@
8 8 [90.0,10.0,10],
9 9 [-90.0,10.0,7],
10 10 [0.0,5.0,1],
11   - [180.0,10.0,15],
12   - [0.0,5.0,1],
13   - [180.0,10.0,8],
14   - [90.0,10.0,8],
  11 + [180.0,20.0,7],
  12 + [0.0,5.0,3],
  13 + [180.0,20.0,4],
  14 + [90.0,20.0,4],
15 15 [-90.0,10.0,3],
16 16 [90.0,10.0,4],
17 17 [0.0,5.0,1],
... ... @@ -21,9 +21,9 @@
21 21 "first_move_sigma_x": 2,
22 22 "first_move_sigma_y": 2,
23 23 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.3,
25   - "resample_sigma_y": 0.3,
26   - "resample_sigma_angle": 0.026,
  24 + "resample_sigma_x": 0.1,
  25 + "resample_sigma_y": 0.1,
  26 + "resample_sigma_angle": 0.02,
27 27  
28 28 "laser_z_hit": 0.80,
29 29 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_1/metric_results.json View file @ 5fa8013
  1 +{
  2 +"metric" : [2.0, 1.4238824005445838, 1.3160411740551194, 5.346618424337531, 1.323874074745884, 1.2749475780049355]
  3 +}
PA2_final2/logs/log_seeds3/seed_1/std_dev_results.json View file @ 5fa8013
  1 +{
  2 +"std_dev_x" : [72.67294079455658, 132.09895365149464, 131.6037862389534, 15.36313400545684, 15.07225697714103, 15.495711131211916]
  3 +}
  4 +{
  5 +"std_dev_y" : [57.754087049913004, 33.40434621983984, 31.63286848549998, 11.567760396843116, 131.97188641885, 142.12453873531828]
  6 +}
  7 +{
  8 +"std_dev_angle" : [1.811602678529423, 2.439484416869617, 2.874551402596871, 3.4857881328337146, 2.8984217333727913, 2.8955277495231933]
  9 +}
PA2_final2/logs/log_seeds3/seed_1/time_results.json View file @ 5fa8013
  1 +{
  2 +"time_elapsed" : [0.0500895120203495, 2.243685584515333, 2.5015218667685986, 3.6171631813049316, 4.424445133656263, 4.533289115875959]
  3 +}
PA2_final2/logs/log_seeds3/seed_100/configuration.json View file @ 5fa8013
... ... @@ -8,10 +8,10 @@
8 8 [90.0,10.0,10],
9 9 [-90.0,10.0,7],
10 10 [0.0,5.0,1],
11   - [180.0,10.0,15],
12   - [0.0,5.0,1],
13   - [180.0,10.0,8],
14   - [90.0,10.0,8],
  11 + [180.0,20.0,7],
  12 + [0.0,5.0,3],
  13 + [180.0,20.0,4],
  14 + [90.0,20.0,4],
15 15 [-90.0,10.0,3],
16 16 [90.0,10.0,4],
17 17 [0.0,5.0,1],
... ... @@ -21,9 +21,9 @@
21 21 "first_move_sigma_x": 2,
22 22 "first_move_sigma_y": 2,
23 23 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.3,
25   - "resample_sigma_y": 0.3,
26   - "resample_sigma_angle": 0.026,
  24 + "resample_sigma_x": 0.1,
  25 + "resample_sigma_y": 0.1,
  26 + "resample_sigma_angle": 0.02,
27 27  
28 28 "laser_z_hit": 0.80,
29 29 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_100/metric_results.json View file @ 5fa8013
1 1 {
2   -"metric" : [3.0, 3.1230210977046977, 3.0690548553171153, 4.4391141662963385, 3.01662397928847, 3.097849083557044, 3.250719693956948, 3.023001202236289, 10.75224050952996, 2.255228444332777, 2.2490320374684227, 2.008355281857834, 4.023075085380298, 34.662783052938295]
  2 +"metric" : [2.0, 1.255122694134589, 1.3677448924917321, 4.7678214655569136, 1.493727131754932, 1.4332167484558647, 1.35222161766123, 1.2407375091338992, 9.330162566065018]
3 3 }
PA2_final2/logs/log_seeds3/seed_100/std_dev_results.json View file @ 5fa8013
1 1 {
2   -"std_dev_x" : [75.14032723274629, 112.66766563692022, 114.22725057129338, 36.53796674255203, 48.92231205953101, 42.16778512661692, 34.71011779362071, 38.16108905391716, 21.221192485973795, 138.44145687310646, 138.7895351343245, 178.922162288191, 67.36167715300158, 8.37214031891855]
  2 +"std_dev_x" : [75.14032723274629, 175.0153246323058, 154.66195748591215, 18.505117120726347, 27.434637279186052, 27.59700191579456, 15.224136503406239, 13.88431882597507, 8.37734930853692]
3 3 }
4 4 {
5   -"std_dev_y" : [56.621614368670805, 37.810497591173494, 34.63783044611571, 29.50808656264989, 94.10409629532955, 109.7863647569753, 126.73083053063388, 134.90217847882164, 8.532865164148552, 45.30249785094974, 55.280646284071274, 47.56348389264536, 21.869762997266502, 4.111219425283383]
  5 +"std_dev_y" : [56.621614368670805, 18.594497715172025, 16.57970327738344, 11.561042658924382, 117.66709628933917, 126.78295433104391, 120.99499317477213, 146.27646060547403, 6.810029490614684]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.8108835899975961, 1.889110516794672, 2.3319152124947076, 3.904757089881186, 2.0601129836414698, 2.2631272234132833, 2.8333253609383084, 2.855167523617228, 3.145448627437756, 3.9144655461632243, 2.6499044674693923, 4.550515094456697, 5.684543679481683, 0.15197998435151389]
  8 +"std_dev_angle" : [1.8108835899975961, 2.513206134572855, 2.3737442012656595, 3.972450595111907, 2.5326251425629276, 2.55739280954278, 3.118412846430211, 3.016066018027615, 2.942496179584507]
9 9 }
PA2_final2/logs/log_seeds3/seed_100/time_results.json View file @ 5fa8013
1 1 {
2   -"time_elapsed" : [0.0491790808737278, 2.144494365900755, 2.412723932415247, 3.484662912786007, 4.2719509825110435, 4.386699479073286, 6.090533033013344, 6.19188816472888, 7.198458798229694, 8.040174797177315, 8.457702230662107, 8.9626992829144, 9.065497167408466, 9.687891565263271]
  2 +"time_elapsed" : [0.04321293532848358, 2.3422266840934753, 2.6050062850117683, 3.7588519491255283, 4.585372284054756, 4.6997894160449505, 5.714456085115671, 6.01973969861865, 6.731148734688759]
3 3 }
PA2_final2/logs/log_seeds3/seed_3/configuration.json View file @ 5fa8013
1 1 {
2 2  
3   - "seed": 3
  3 + "seed": 3,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
... ... @@ -8,10 +8,10 @@
8 8 [90.0,10.0,10],
9 9 [-90.0,10.0,7],
10 10 [0.0,5.0,1],
11   - [180.0,10.0,15],
12   - [0.0,5.0,1],
13   - [180.0,10.0,8],
14   - [90.0,10.0,8],
  11 + [180.0,20.0,7],
  12 + [0.0,5.0,3],
  13 + [180.0,20.0,4],
  14 + [90.0,20.0,4],
15 15 [-90.0,10.0,3],
16 16 [90.0,10.0,4],
17 17 [0.0,5.0,1],
... ... @@ -21,9 +21,9 @@
21 21 "first_move_sigma_x": 2,
22 22 "first_move_sigma_y": 2,
23 23 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.3,
25   - "resample_sigma_y": 0.3,
26   - "resample_sigma_angle": 0.026,
  24 + "resample_sigma_x": 0.1,
  25 + "resample_sigma_y": 0.1,
  26 + "resample_sigma_angle": 0.02,
27 27  
28 28 "laser_z_hit": 0.80,
29 29 "laser_z_rand": 0.05,
PA2_final2/logs/log_seeds3/seed_3/metric_results.json View file @ 5fa8013
  1 +{
  2 +"metric" : [2.0, 1.1047828861426765, 1.1835747218847406, 8.903377286221659, 1.276974031756708, 1.2341781690004434]
  3 +}
PA2_final2/logs/log_seeds3/seed_3/std_dev_results.json View file @ 5fa8013
  1 +{
  2 +"std_dev_x" : [75.29445706760256, 197.85988866540802, 174.77799561288876, 7.424109748284507, 13.420795160982415, 13.617511999894298]
  3 +}
  4 +{
  5 +"std_dev_y" : [55.166854597354295, 23.2629821875162, 21.20965564273314, 8.386703518048716, 138.66694223149509, 148.35908632262718]
  6 +}
  7 +{
  8 +"std_dev_angle" : [1.823933683962769, 2.866673071401528, 2.7914221332162263, 3.2010866094180113, 3.0049805342936318, 3.0016065065352353]
  9 +}
PA2_final2/logs/log_seeds3/seed_3/time_results.json View file @ 5fa8013
  1 +{
  2 +"time_elapsed" : [0.05094929784536362, 2.4942609667778015, 2.7580668963491917, 3.8890277966856956, 4.737251713871956, 4.8554511442780495]
  3 +}
PA2_final2/logs/log_seeds3/seed_9/configuration.json View file @ 5fa8013
1 1 {
2 2  
3   - "seed": 9
  3 + "seed": 9,
4 4  
5 5 "move_list": [
6 6 [0.0, 5.0,24],
... ... @@ -8,10 +8,10 @@
8 8 [90.0,10.0,10],
9 9 [-90.0,10.0,7],
10 10 [0.0,5.0,1],
11   - [180.0,10.0,15],
12   - [0.0,5.0,1],
13   - [180.0,10.0,8],
14   - [90.0,10.0,8],
  11 + [180.0,20.0,7],
  12 + [0.0,5.0,3],
  13 + [180.0,20.0,4],
  14 + [90.0,20.0,4],
15 15 [-90.0,10.0,3],
16 16 [90.0,10.0,4],
17 17 [0.0,5.0,1],
... ... @@ -21,9 +21,9 @@
21 21 "first_move_sigma_x": 2,
22 22 "first_move_sigma_y": 2,
23 23 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.3,
25   - "resample_sigma_y": 0.3,
26   - "resample_sigma_angle": 0.026,
  24 + "resample_sigma_x": 0.1,
  25 + "resample_sigma_y": 0.1,
  26 + "resample_sigma_angle": 0.02,
27 27  
28 28 "laser_z_hit": 0.80,
29 29 "laser_z_rand": 0.05,
PA2_final2/map/MAP.png View file @ 5fa8013

5.01 KB | W: | H:

4.99 KB | W: | H:

  • 2-up
  • Swipe
  • Onion skin
PA2_final2/map/stage.world View file @ 5fa8013
... ... @@ -71,7 +71,7 @@
71 71 (
72 72 name "tutorial"
73 73 bitmap "MAP.png"
74   - size [259.0 194.0 0.0]
  74 + size [259.0 194.0 0.5]
75 75 pose [ 129.5 97.0 0.0 0.0 ]
76 76 )
PA2_final2/map/stage.yaml View file @ 5fa8013
... ... @@ -2,6 +2,6 @@
2 2 resolution: 1
3 3 origin: [0.0, 0.0, 0.0]
4 4 negate: 0
5   -occupied_thresh: 0.65
6   -free_thresh: 0.196
  5 +occupied_thresh: 0.5
  6 +free_thresh: 0.5
PA2_final2/rviz/PA2.rviz View file @ 5fa8013
... ... @@ -7,8 +7,8 @@
7 7 - /Global Options1
8 8 - /Grid1
9 9 - /TF1/Frames1
  10 + - /LaserScan1
10 11 - /Map1
11   - - /Odometry1
12 12 - /PoseArray1
13 13 - /Map2
14 14 Splitter Ratio: 0.5
... ... @@ -31,7 +31,7 @@
31 31 Experimental: false
32 32 Name: Time
33 33 SyncMode: 0
34   - SyncSource: ""
  34 + SyncSource: LaserScan
35 35 Visualization Manager:
36 36 Class: ""
37 37 Displays:
... ... @@ -64,6 +64,10 @@
64 64 Value: true
65 65 base_link:
66 66 Value: true
  67 + base_scan:
  68 + Value: true
  69 + map:
  70 + Value: true
67 71 odom:
68 72 Value: true
69 73 Marker Scale: 1
... ... @@ -72,7 +76,14 @@
72 76 Show Axes: true
73 77 Show Names: false
74 78 Tree:
75   - {}
  79 + map:
  80 + base_scan:
  81 + {}
  82 + odom:
  83 + base_footprint:
  84 + base_link:
  85 + base_laser_link:
  86 + {}
76 87 Update Interval: 0
77 88 Value: true
78 89 - Alpha: 1
79 90  
80 91  
81 92  
... ... @@ -88,19 +99,20 @@
88 99 Color Transformer: Intensity
89 100 Decay Time: 0
90 101 Enabled: true
91   - Invert Rainbow: false
  102 + Invert Rainbow: true
92 103 Max Color: 255; 255; 255
93 104 Max Intensity: 1
94   - Min Color: 0; 0; 0
  105 + Min Color: 255; 85; 255
95 106 Min Intensity: 1
96 107 Name: LaserScan
97 108 Position Transformer: XYZ
98 109 Queue Size: 10
99 110 Selectable: true
100 111 Size (Pixels): 3
101   - Size (m): 0.01
  112 + Size (m): 1
102 113 Style: Flat Squares
103 114 Topic: /base_scan
  115 + Unreliable: false
104 116 Use Fixed Frame: true
105 117 Use rainbow: true
106 118 Value: true
... ... @@ -111,6 +123,7 @@
111 123 Enabled: true
112 124 Name: Map
113 125 Topic: /map
  126 + Unreliable: false
114 127 Value: true
115 128 - Alpha: 1
116 129 Class: rviz/PointStamped
117 130  
118 131  
... ... @@ -120,13 +133,14 @@
120 133 Name: PointStamped
121 134 Radius: 0.2
122 135 Topic: /clicked_point
  136 + Unreliable: false
123 137 Value: true
124 138 - Angle Tolerance: 0.1
125 139 Class: rviz/Odometry
126   - Color: 255; 25; 0
  140 + Color: 0; 0; 0
127 141 Enabled: true
128   - Keep: 100
129   - Length: 1
  142 + Keep: 5
  143 + Length: 5
130 144 Name: Odometry
131 145 Position Tolerance: 0.1
132 146 Topic: /base_pose_ground_truth
... ... @@ -137,6 +151,7 @@
137 151 Enabled: true
138 152 Name: PoseArray
139 153 Topic: /particlecloud
  154 + Unreliable: false
140 155 Value: true
141 156 - Alpha: 0.7
142 157 Class: rviz/Map
... ... @@ -145,6 +160,7 @@
145 160 Enabled: true
146 161 Name: Map
147 162 Topic: /likelihood_field
  163 + Unreliable: false
148 164 Value: true
149 165 Enabled: true
150 166 Global Options:
... ... @@ -178,7 +194,7 @@
178 194 Value: false
179 195 Name: Current View
180 196 Near Clip Distance: 0.01
181   - Scale: 2.34715
  197 + Scale: 1.64976
182 198 Target Frame: base_laser_link
183 199 Value: TopDownOrtho (rviz)
184 200 X: 76.6314
... ... @@ -190,7 +206,7 @@
190 206 Height: 744
191 207 Hide Left Dock: false
192 208 Hide Right Dock: true
193   - QMainWindow State: 000000ff00000000fd00000004000000000000013c0000025efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000002540000011a00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000050f0000003efc0100000002fb0000000800540069006d006501000000000000050f000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003cd0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  209 + QMainWindow State: 000000ff00000000fd00000004000000000000016a0000025efc0200000008fb0000001200530065006c0065006300740069006f006e00000000280000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000002540000011a00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000025e000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000050f0000003efc0100000002fb0000000800540069006d006501000000000000050f000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000039f0000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
194 210 Selection:
195 211 collapsed: false
196 212 Time:
PA2_final2/scripts/configuration.json View file @ 5fa8013
... ... @@ -8,10 +8,10 @@
8 8 [90.0,10.0,10],
9 9 [-90.0,10.0,7],
10 10 [0.0,5.0,1],
11   - [180.0,10.0,15],
12   - [0.0,5.0,1],
13   - [180.0,10.0,8],
14   - [90.0,10.0,8],
  11 + [180.0,20.0,7],
  12 + [0.0,5.0,3],
  13 + [180.0,20.0,4],
  14 + [90.0,20.0,4],
15 15 [-90.0,10.0,3],
16 16 [90.0,10.0,4],
17 17 [0.0,5.0,1],
... ... @@ -21,9 +21,9 @@
21 21 "first_move_sigma_x": 2,
22 22 "first_move_sigma_y": 2,
23 23 "first_move_sigma_angle": 0.08,
24   - "resample_sigma_x": 0.3,
25   - "resample_sigma_y": 0.3,
26   - "resample_sigma_angle": 0.026,
  24 + "resample_sigma_x": 0.1,
  25 + "resample_sigma_y": 0.1,
  26 + "resample_sigma_angle": 0.02,
27 27  
28 28 "laser_z_hit": 0.80,
29 29 "laser_z_rand": 0.05,
PA2_final2/scripts/metric_results.json View file @ 5fa8013
1 1 {
2   -"metric" : [3.0, 3.009635523425522, 2.866357649805677, 3.447984850226044, 3.1307572175414684, 3.069963980783466]
  2 +"metric" : [2.0, 1.7067430792770657, 1.4983150168217945, 2.4730210322669306, 1.6974163987510016, 1.6573910336913142, 1.6383895045301693, 1.5022194981557067, 6.252232915514105, 1.279662391939394, 2.1745364017745326, 13.453712172124224, 11.875753998752808, 22.921697985100863]
3 3 }
PA2_final2/scripts/robot.py View file @ 5fa8013
... ... @@ -34,13 +34,14 @@
34 34 def sense(self, scan_msg, likelihood_field):
35 35 xs, ys = self.laser_range_end(scan_msg)
36 36 #total_prob = 0
37   - total_prob = 1
  37 + total_prob = 1 # BIAS
38 38  
39   - for i in range(0, len(xs), 30):
  39 + for i in range(0, len(xs), 5):
40 40 likelihood = likelihood_field.get_cell(xs[i], ys[i])
41 41 if np.isnan(likelihood):
42 42 likelihood = 0
43 43 pz=(laser_z_hit * likelihood + laser_z_rand)
  44 + #total_prob += pz
44 45 total_prob += pz*pz*pz
45 46 #total_prob *= pz
46 47  
47 48  
... ... @@ -56,10 +57,10 @@
56 57 xs = []
57 58 ys = []
58 59  
59   - for i in range(len(ranges)):
  60 + for i in range(len(ranges)/4, 3*len(ranges)/4):
60 61 if ranges[i] == scan_msg.range_max:
61 62 continue
62   - #print "Obstacle Seen"
  63 + #print "Obstacle Seen"
63 64 xs.append(self.x + ranges[i] * np.cos(self.theta + theta_beam[i]))
64 65 ys.append(self.y + ranges[i] * np.sin(self.theta + theta_beam[i]))
65 66  
PA2_final2/scripts/std_dev_results.json View file @ 5fa8013
1 1 {
2   -"std_dev_x" : [75.29445706760256, 117.04231012918234, 112.94341414332644, 55.31325221933085, 59.740389307141015, 59.33243121257976]
  2 +"std_dev_x" : [75.29445706760256, 110.4656340550364, 111.43968024079918, 40.97831452669745, 43.64283268690735, 43.40163063156963, 36.941909447821075, 26.392394670257715, 13.858259198780601, 99.59084201559187, 84.24856040749864, 5.810436782944739, 6.68665740377187, 7.277817790273729]
3 3 }
4 4 {
5   -"std_dev_y" : [55.166854597354295, 38.67424358146727, 38.84255948327353, 33.64842299953234, 72.24685841661191, 78.9508708911915]
  5 +"std_dev_y" : [55.166854597354295, 51.33974432072303, 45.68346449600554, 23.289640742281268, 98.31339589212018, 104.71684957022526, 96.11816631822906, 118.32776213442683, 12.091742044327376, 18.750450360329523, 31.200370293939947, 4.074427465075527, 4.508154573157117, 4.125298083229201]
6 6 }
7 7 {
8   -"std_dev_angle" : [1.823933683962769, 1.940610331144119, 2.340077813528975, 4.078201078075731, 1.6479224938924018, 1.6548301875731364]
  8 +"std_dev_angle" : [1.823933683962769, 1.9393755833944504, 2.5216470116549, 3.7020312608645707, 2.1984436697315477, 2.187113070524559, 2.491977268746382, 2.4906925725330584, 1.5495309415801248, 5.086332577696456, 1.6061902382763953, 6.064114392873878, 6.054213755064956, 0.15504319460925553]
9 9 }
PA2_final2/scripts/test_metric.py View file @ 5fa8013
... ... @@ -115,7 +115,8 @@
115 115 self.std_dev_y_data.extend([std_dev_y_value])
116 116 self.std_dev_angle_data.extend([std_dev_angle_value])
117 117  
118   - metric = (self.std_dev_x_data[0]/std_dev_x_value)+(self.std_dev_y_data[0]/std_dev_y_value)+(self.std_dev_angle_data[0]/std_dev_angle_value)
  118 + #RMS
  119 + metric = (sqrt(self.std_dev_x_data[0]**2 + self.std_dev_y_data[0]**2)/sqrt(std_dev_x_value**2 + std_dev_y_value**2))+(self.std_dev_angle_data[0]/std_dev_angle_value)
119 120  
120 121 # if (time_elapsed_value > 10):
121 122 # metric = metric/(time_elapsed_value-9)
PA2_final2/scripts/time_results.json View file @ 5fa8013
1 1 {
2   -"time_elapsed" : [0.05231093242764473, 2.233462516218424, 2.49330198392272, 3.5580093637108803, 4.3344984985888, 4.43617058172822]
  2 +"time_elapsed" : [0.051666666666666666, 2.228333333333333, 2.4883333333333337, 3.6166666666666667, 4.451666666666667, 4.558333333333334, 5.58, 5.878333333333333, 6.635000000000001, 7.166666666666667, 7.611666666666666, 8.135, 8.245, 8.908333333333333]
3 3 }