From 4581485a69c1313a53efe122edb9a00bb88f1495 Mon Sep 17 00:00:00 2001
From: "oceanpdoshi@g.ucla.edu" <oceanpdoshi@.ucla.edu>
Date: Thu, 6 Jun 2019 16:10:33 -0700
Subject: [PATCH] fixed subjectID
---
CoLo-AT/dataset_manager/data_generator.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/CoLo-AT/dataset_manager/data_generator.py b/CoLo-AT/dataset_manager/data_generator.py
index 9798547..13fc4c2 100644
--- a/CoLo-AT/dataset_manager/data_generator.py
+++ b/CoLo-AT/dataset_manager/data_generator.py
@@ -204,14 +204,14 @@ class DataGenerator():
# Relative (other robots) observations
other_robot_locs = {label : [self.groundtruth_data[i][time_idx]['x_pos'], self.groundtruth_data[i][time_idx]['y_pos']] for i, label in enumerate(self.robot_labels, 0) if i != robot_idx }
- for robotidx, other_robot_loc in other_robot_locs.items():
+ for robotID, other_robot_loc in other_robot_locs.items():
if (self.within_vision(self.robot_fov, robot_loc, other_robot_loc, robot_orientation)):
measurement_range = self.calc_distance(robot_loc, other_robot_loc) + np.random.normal(loc=0.0,scale=self.measurement_range_noise)
bearing = atan2((other_robot_loc[1]-robot_loc[1]), (other_robot_loc[0]-robot_loc[0])) + np.random.normal(loc=0.0,scale=self.bearing_noise) # global coordinates
bearing = bearing - robot_orientation # NOTE - local = global - orientation, all between 0 and 2*pi
bearing = self.converge_to_angle_range(bearing)
- self.measurement_data[robot_idx].append({'time': time, 'subject_ID': self.robot_labels[robotidx], 'measurment_range':measurement_range, 'bearing':bearing})
+ self.measurement_data[robot_idx].append({'time': time, 'subject_ID': robotID, 'measurment_range':measurement_range, 'bearing':bearing})
time_arr.append(time) # we expect repeats/skipped times in time array
# Landmark (absolute) observations
--
GitLab