From f54127a33494bba2084d30036eb8fc606031c1ae Mon Sep 17 00:00:00 2001
From: "oceanpdoshi@g.ucla.edu" <oceanpdoshi@.ucla.edu>
Date: Thu, 6 Jun 2019 16:48:56 -0700
Subject: [PATCH] find_measurement() function now finds nearest time index even
when no measurement available at a particular time
---
.../simulated_dataset_manager.py | 17 ++++++++---------
1 file changed, 8 insertions(+), 9 deletions(-)
diff --git a/CoLo-AT/dataset_manager/simulated_dataset_manager.py b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
index ec65933..f31dccb 100644
--- a/CoLo-AT/dataset_manager/simulated_dataset_manager.py
+++ b/CoLo-AT/dataset_manager/simulated_dataset_manager.py
@@ -193,12 +193,11 @@ class SimulatedDataSetManager:
available_measurements.append(measurement['measurment_range'])
measurement_indices.append(data_idx)
- # Select the "best"=shortest distance measurement
- if (len(available_measurements) != 0):
- least_index = np.argmin(available_measurements)
- idx = measurement_indices[least_index]
- return self.measurement_data[robot_idx][idx]
-
-
- # No measurement data available (ex: no landmarks in vision at given time)
- return {'time': current_time, 'subject_ID': None, 'measurment_range': None,'bearing': None}
\ No newline at end of file
+ # No exact matches at that time
+ if (len(available_measurements)== 0):
+ time_idx = find_nearest_time_idx(self.time_arr['measurement'][robot_idx], current_time)
+ return self.measurement_data[robot_idx][time_idx]
+
+ least_index = np.argmin(available_measurements)
+ idx = measurement_indices[least_index]
+ return self.measurement_data[robot_idx][idx]
\ No newline at end of file
--
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