diff --git a/CoLo-AT/README.md b/CoLo-AT/README.md index 0e175299da0be2aea04679c845e59f64ad39342d..517635696d6bcddbfe82d1d44a7d444cbcc546e7 100755 --- a/CoLo-AT/README.md +++ b/CoLo-AT/README.md @@ -79,9 +79,6 @@ Cade Mallett Kyle Wong - - - ## Analytical Tool: Plots: 1. Estimation deviation error vs. time @@ -95,44 +92,7 @@ Values: ## How to add new localization algorithm to the environment 1. Create the algorithm in the predefined algorithm framework -``` -def propagation_update(self, robot_data, sensor_data): -[s, orinetations, sigma_s, index] = robot_data -... -return [s, orinetations, sigma_s] - -def absolute_obser_update(self, robot_data, sensor_data): -[s, orinetations, sigma_s, index] = robot_data -... -return [s, orinetations, sigma_s] - -def relative_obser_update(self, robot_data, sensor_data): -[s, orinetations, sigma_s, index] = robot_data -... -return [s, orinetations, sigma_s] - -def communication(self, robot_data, sensor_data): -[s, orinetations, sigma_s, index] = robot_data -... -return [s, orinetations, sigma_s] -``` -2. Add it to the algorithm library - - -## Files and folders includes within the project - -### Datasets Folder: -Store the UTIAS datasets which has odometry, measurement and groundtruth data for each robot - -### Functions Folder: -Contains all the python scripts -Folders: -simulation process -robots -requests -localization algos -dataset_manager -data_analysis - - +2. Load it to the robot before running +## Algorithm Framework + diff --git a/CoLo-AT/algo_framework.png b/CoLo-AT/algo_framework.png new file mode 100644 index 0000000000000000000000000000000000000000..991a112220b5d54a114bf96923c22965e0fef1d7 Binary files /dev/null and b/CoLo-AT/algo_framework.png differ