some comments, changed < to <=

avoids cropping off time at the end of sim

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()
 

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: