From 6c48c701f98fb92884e2d2512b6375a36fb1e25c Mon Sep 17 00:00:00 2001
From: William Chen <billyskc@ucla.edu>
Date: Thu, 25 Jul 2019 16:56:29 -0700
Subject: [PATCH] able to generate txt files for trajectory with landamarks

---
 CoLo-AT/Cooperative_Localization_Journal1.py  |  13 +++++++++---
 ...ative_Localization_Journal1.cpython-36.pyc | Bin 2598 -> 2651 bytes
 CoLo-AT/colo_d1.pdf                           | Bin 29974 -> 29974 bytes
 CoLo-AT/colo_d2.pdf                           | Bin 28994 -> 28994 bytes
 CoLo-AT/colo_d3.pdf                           | Bin 32559 -> 30314 bytes
 CoLo-AT/colo_d4.pdf                           | Bin 29597 -> 29597 bytes
 .../__pycache__/data_analyzer.cpython-36.pyc  | Bin 8859 -> 9199 bytes
 CoLo-AT/data_analysis/data_analyzer.py        |  20 ++++++++++++++++--
 CoLo-AT/landmark_map.txt                      |   9 ++++++++
 9 files changed, 37 insertions(+), 5 deletions(-)
 create mode 100644 CoLo-AT/landmark_map.txt

diff --git a/CoLo-AT/Cooperative_Localization_Journal1.py b/CoLo-AT/Cooperative_Localization_Journal1.py
index 476e7ab..edc1d17 100644
--- a/CoLo-AT/Cooperative_Localization_Journal1.py
+++ b/CoLo-AT/Cooperative_Localization_Journal1.py
@@ -51,7 +51,9 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 
 	sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder, simple_plot = False ,  robots_cant_observe_lm = robots_cant_observe_lm)
 	analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder, plot_graphs = True)
-	analyzer.trajectory_plot(state_recorder)
+	
+	landmark_map = testing_dataset.get_landmark_map()
+	analyzer.trajectory_plot(state_recorder, landmark_map = landmark_map)
 	
 	##############################################################################
 	'''
@@ -69,7 +71,7 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 	testing_dataset.dataset_reset()
 	loc_algo = Centralized_EKF('algo')
 	robot = RobotSystem('robot', robot_labels, loc_algo, distr_sys = False)
-
+    
 	sim = SimulationManager('sim cen_ekf')
 	state_recorder_LS_cen = StatesRecorder('LS_cen', robot_labels)
 	sim.sim_process_native(robot_labels, testing_dataset, robot, state_recorder_LS_cen, simple_plot = False, robots_cant_observe_lm = robots_cant_observe_lm)
@@ -110,4 +112,9 @@ def all_algorithms_comp(dataset_path, robot_labels, duration, graph_name, robots
 	analyzer.calculate_loc_err_and_trace_state_variance_per_run(state_recorder_GS_SCI, plot_graphs = False)
 
 	analyzer.algos_comparison([state_recorder, state_recorder_LS_cen, state_recorder_LS_BDA, state_recorder_LS_CI, state_recorder_GS_SCI], graph_name = graph_name)
-	analyzer.generate_result_files([state_recorder, state_recorder_LS_cen, state_recorder_LS_BDA, state_recorder_LS_CI, state_recorder_GS_SCI])
\ No newline at end of file
+	analyzer.generate_result_files([state_recorder, state_recorder_LS_cen, state_recorder_LS_BDA, state_recorder_LS_CI, state_recorder_GS_SCI])
+
+
+
+	print("Animation Start: ")
+	animate_plot(dataset_labels, state_recorder, analyzer, lm = testing_dataset.get_landmark_map())
\ No newline at end of file
diff --git a/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc b/CoLo-AT/__pycache__/Cooperative_Localization_Journal1.cpython-36.pyc
index 3af8e2339cde74a005acc5b2cf61285fe765bc9b..c1c0643406051cd323648b71a999639448d18487 100644
GIT binary patch
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diff --git a/CoLo-AT/colo_d1.pdf b/CoLo-AT/colo_d1.pdf
index 92c82dfbeaeacd53bbdfcda17ff404c11ad29060..c891ce893ce94c308fa333524367f3ea8688e73d 100644
GIT binary patch
delta 22
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delta 22
ecmbRCigDU2#tjk$>?VfB#ula~o8=3>vj6~M#s}*F

diff --git a/CoLo-AT/colo_d2.pdf b/CoLo-AT/colo_d2.pdf
index 908acf4b7388c02316a3cb946d4266ac5233d39c..7292d46c4db2dac6fe1f24abf3170ca411d839eb 100644
GIT binary patch
delta 22
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delta 22
ecmX@~i1E-P#tkkx>?VdL21Z5}o4s?svj6~VTnKys

diff --git a/CoLo-AT/colo_d3.pdf b/CoLo-AT/colo_d3.pdf
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GIT binary patch
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diff --git a/CoLo-AT/colo_d4.pdf b/CoLo-AT/colo_d4.pdf
index cf0ff65e1d6e1f7216418844fbfb0740adc50d1d..9d145a563732bc378554f7858b490a26c8f461fe 100644
GIT binary patch
delta 22
ecmbRHoN?}R#trlH*i8-1OiT>SHZRNj&H?~!PYC+}

delta 22
ecmbRHoN?}R#trlH*i8&g3`~v9H!sWk&H?~!E(rMm

diff --git a/CoLo-AT/data_analysis/__pycache__/data_analyzer.cpython-36.pyc b/CoLo-AT/data_analysis/__pycache__/data_analyzer.cpython-36.pyc
index 3b90640b969c7635f4b486ef6f71cf07b56cd3df..be77288af1d43e6e3097def5b1f639f6ae010e6b 100644
GIT binary patch
delta 1957
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DCJ={L

diff --git a/CoLo-AT/data_analysis/data_analyzer.py b/CoLo-AT/data_analysis/data_analyzer.py
index 35423b8..aad643c 100644
--- a/CoLo-AT/data_analysis/data_analyzer.py
+++ b/CoLo-AT/data_analysis/data_analyzer.py
@@ -283,12 +283,28 @@ class Analyzer():
 		return arr_loc_err, arr_trace
 
 
-	def trajectory_plot(self, data_recorder, robot_labels = None):
+	def trajectory_plot(self, data_recorder, landmark_map = None, robot_labels = None):
 		if robot_labels  == None:
 			robot_labels = self.dataset_labels
 
-		robot_loc_time_unit = self.robot_location_at_unit_time_interval(data_recorder)
 
+		# generating landmark file
+		lm_file = open("landmark_map.txt", "w")
+		lm_file.write('#id' + ' ' + 'x[m]' + ' ' + 'y[m]' + '\n')
+		
+		landmarks_loc = []
+		print(landmark_map)
+		if landmark_map != None:
+			for landmark_id, [x, y] in landmark_map.items():
+				if [x, y] not in landmarks_loc: # duplicate landmark with the same position
+					result_str = '{:d} {:2.4f} {:2.4f} \n'.format(landmark_id, x, y)
+					landmarks_loc.append([x, y])
+					lm_file.write(result_str)
+		lm_file.close
+
+
+		# generating trajectory file
+		robot_loc_time_unit = self.robot_location_at_unit_time_interval(data_recorder)
 
 
 		trajectory_file = open("trajectory.txt", "w")
diff --git a/CoLo-AT/landmark_map.txt b/CoLo-AT/landmark_map.txt
new file mode 100644
index 0000000..c5e2dea
--- /dev/null
+++ b/CoLo-AT/landmark_map.txt
@@ -0,0 +1,9 @@
+#id x[m] y[m]
+113 0.7155 -1.9365 
+103 0.8365 1.1135 
+107 -1.2505 -0.8313 
+110 0.9218 -0.7042 
+109 -0.2887 -2.1572 
+108 0.3667 1.2349 
+120 -1.2377 0.0993 
+124 -0.7332 1.2293 
-- 
GitLab