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Merged
merged 1 commit into from
Aug 7, 2017
Merged

List to Tuple #603

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8 changes: 4 additions & 4 deletions probability.py
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Original file line number Diff line number Diff line change
Expand Up @@ -661,14 +661,14 @@ def __init__(self, m):
self.nrows = len(m)
self.ncols = len(m[0])
# list of empty spaces in the map
self.empty = [[i, j] for i in range(self.nrows) for j in range(self.ncols) if not m[i][j]]
self.empty = [(i, j) for i in range(self.nrows) for j in range(self.ncols) if not m[i][j]]

def sample(self):
"""Returns a random kinematic state possible in the map"""
pos = random.choice(self.empty)
# 0N 1E 2S 3W
orient = random.choice(range(4))
kin_state = pos + [orient]
kin_state = pos + (orient,)
return kin_state

def ray_cast(self, sensor_num, kin_state):
Expand All @@ -679,10 +679,10 @@ def ray_cast(self, sensor_num, kin_state):
# 0
# 3R1
# 2
delta = [(sensor_num%2 == 0)*(sensor_num - 1), (sensor_num%2 == 1)*(2 - sensor_num)]
delta = ((sensor_num%2 == 0)*(sensor_num - 1), (sensor_num%2 == 1)*(2 - sensor_num))
# sensor direction changes based on orientation
for _ in range(orient):
delta = [delta[1], -delta[0]]
delta = (delta[1], -delta[0])
range_count = 0
while (0 <= pos[0] < self.nrows) and (0 <= pos[1] < self.nrows) and (not self.m[pos[0]][pos[1]]):
pos = vector_add(pos, delta)
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14 changes: 7 additions & 7 deletions tests/test_probability.py
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Original file line number Diff line number Diff line change
Expand Up @@ -192,9 +192,9 @@ def P_motion_sample(kin_state, v, w):
# for simplicity the robot first rotates and then moves
orient = (orient + w)%4
for _ in range(orient):
v = [v[1], -v[0]]
pos = list(vector_add(pos, v))
return pos + [orient]
v = (v[1], -v[0])
pos = vector_add(pos, v)
return pos + (orient,)

def P_sensor(x, y):
"""Conditional probability for sensor reading"""
Expand All @@ -207,8 +207,8 @@ def P_sensor(x, y):
return 0

from utils import print_table
a = {'v': [0, 0], 'w': 0}
z = [2, 4, 1, 6]
a = {'v': (0, 0), 'w': 0}
z = (2, 4, 1, 6)
S = monte_carlo_localization(a, z, 1000, P_motion_sample, P_sensor, m)
grid = [[0]*17 for _ in range(11)]
for x, y, _ in S:
Expand All @@ -217,8 +217,8 @@ def P_sensor(x, y):
print("GRID:")
print_table(grid)

a = {'v': [0, 1], 'w': 0}
z = [2, 3, 5, 7]
a = {'v': (0, 1), 'w': 0}
z = (2, 3, 5, 7)
S = monte_carlo_localization(a, z, 1000, P_motion_sample, P_sensor, m, S)
grid = [[0]*17 for _ in range(11)]
for x, y, _ in S:
Expand Down