From c29b115b4a5da120723d81d8d019d60ee37440d3 Mon Sep 17 00:00:00 2001
From: "oceanpdoshi@g.ucla.edu" <oceanpdoshi@.ucla.edu>
Date: Sun, 7 Jul 2019 20:19:45 -0700
Subject: [PATCH] some comments, changed < to <= avoids cropping off time at
the end of sim
---
CoLo-AT/dataset_manager/data_generator.py | 6 +++---
CoLo-AT/dataset_manager/simulated_dataset_manager.py | 9 +++------
2 files changed, 6 insertions(+), 9 deletions(-)
diff --git a/CoLo-AT/dataset_manager/data_generator.py b/CoLo-AT/dataset_manager/data_generator.py
index 1af1b6c..6d1cf77 100644
--- a/CoLo-AT/dataset_manager/data_generator.py
+++ b/CoLo-AT/dataset_manager/data_generator.py
@@ -4,7 +4,7 @@ import matplotlib.pyplot as plt
import IPython
-# TODO - add collision checking for circle/random data
+
class DataGenerator():
def __init__(self, landmarks, duration, robot_labels, starting_states, start_time, delta_t,
velocity_noise = 0, angular_velocity_noise = 0, measurement_range_noise = 0, bearing_noise = 0, communication_noise = 0,
@@ -87,7 +87,7 @@ class DataGenerator():
# Generates simulated of robots moving in a circle
def generate_circular_data(self, test, velocity=0.1, velocity_spread=0):
- radian_step = 2*pi/self.duration
+ radian_step = 2*pi/self.duration # can be hardcoded to be a certain amount of degrees (radians)
# if it's a "perfect" circle, then velocity spread will be 0
distance_step = (velocity + np.random.normal(0, velocity_spread))*self.delta_t
@@ -111,7 +111,7 @@ class DataGenerator():
self.groundtruth_data[i].append({'time' : self.time_arr['groundtruth'][i][time_idx], 'x_pos': next_x, 'y_pos': next_y, 'orientation': next_orientation})
-
+
self.generate_odometry_data()
self.generate_measurement_data()
diff --git a/CoLo-AT/dataset_manager/simulated_dataset_manager.py b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
index 702e82d..f5baa20 100644
--- a/CoLo-AT/dataset_manager/simulated_dataset_manager.py
+++ b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
@@ -23,7 +23,6 @@ def find_nearest_time_idx(l, value):
# TODO
# communication
-# scheduling
class SimulatedDataSetManager:
def __init__(self, dataset_name, landmarks, duration, robot_labels,
@@ -42,7 +41,7 @@ class SimulatedDataSetManager:
self.curr_request = 'odometry'
self.curr_robot_idx = 0
- # time step of the simulation (secs) TODO - user specified
+ # time step of the simulation (secs)
self.delta_t = delta_t
# landmarks = {landmark ID: [x,y]} (m)
@@ -52,7 +51,7 @@ class SimulatedDataSetManager:
raise Exception("Invalid landmark ID: landmark IDs must be bigger than 5.")
# starting_states = {robot label: [time, x_pos, y_pos, orientation], ... }
- # TODO - create a generate starting states function (potentially randomized to fit boundary)
+ # TODO - create a generate starting states function
self.starting_states = {label : [self.start_time, i, 0, 0.0] for i,label in enumerate(self.robot_labels)}
# groundtruth & odometry are of fixed length=duration
@@ -127,8 +126,6 @@ class SimulatedDataSetManager:
req.set_message(message)
req.set_type(req_type)
-
- # TODO - perhaps this is the sourceo f the issue?
if (req_type == 'measurement' and self.reset_robot_ctr()):
current_time += self.delta_t
@@ -159,7 +156,7 @@ class SimulatedDataSetManager:
message['robot_index'] = robot_idx
# Past the total time of simulation or no further measurements
- valid_dataline = current_time < self.end_time or (abs(current_time - self.end_time) < 0.001) # <= w/floats
+ valid_dataline = current_time <= self.end_time or (abs(current_time - self.end_time) < 0.001) # <= w/floats
# Select message data
if valid_dataline:
--
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