Sakthi Sivaraman / cse_190_pa2 | GitLab

Commit ad88bc5c7c447e0c6c077d752580ebd7af4f5886

Authored by Sakthi Sivaraman 2016-04-27 23:16:54 -0700

1 parent 2d10c5cb4d

Exists in master

Updated test metric

Showing 3 changed files with 11 additions and 10 deletions Side-by-side Diff

map/stage.world
scripts/configuration.json
scripts/test_metric.py

...	...	@@ -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	)

1	1	{
2	2
3		- "seed": 0,
	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,

...	...	@@ -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_value2 + std_dev_y_value2))+(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)