Module idealReadings

Utility for computing ideal sonar readings

Functions

computeIdealReadings(worldPath, xMin, xMax, y, numStates, numObs)
Returns: list of numStates values, each of which is between 0 and numObs-1, which lists the ideal discretized sonar reading that the robot would receive if it were at the midpoint of each of the x bins.

idealSonarReading(robotPose, sensorPose, world)
Returns: length of ideal sonar reading; if the distance is longer than sonarDist.sonarMax or there is no hit at all, then sonarDist.sonarMax is returned.

discreteSonar(d, numBins)
Returns: number of the bin into which this sonar reading should fall; any reading greater than or equal to c{sonarDist.sonarMax} is put into bin numBins - 1.

discreteSonarValue(d, numBins)
Returns: number of the bin into which this sonar reading should fall; any reading greater than or equal to c{sonarDist.sonarMax} is put into bin numBins - 1.

Variables
	__package__ = `None`

Function Details

computeIdealReadings(worldPath, xMin, xMax, y, numStates, numObs)

Parameters:

worldPath - string naming file to read the world description from
xMin - minimum x coordinate for center of robot
xMax - maximum x coordinate for center of robot
y - constant y coordinate for center of robot
numStates - number of discrete states into which to divide the range of x coordinates
numObs - number of discrete observations into which to divide the range of good sonar observations, between 0 and goodSonarRange

Returns:

list of numStates values, each of which is between 0 and numObs-1, which lists the ideal discretized sonar reading that the robot would receive if it were at the midpoint of each of the x bins.

idealSonarReading(robotPose, sensorPose, world)

Parameters:

robotPose - util.Pose representing pose of robot in world
sensorPose - c{util.Pose} representing pose of sonar sensor with respect to the robot
world - soarWorld.SoarWorld representing obstacles in the world

Returns:

length of ideal sonar reading; if the distance is longer than sonarDist.sonarMax or there is no hit at all, then sonarDist.sonarMax is returned.

discreteSonar(d, numBins)

Parameters:

d - value of a sonar reading
numBins - number of bins into which to divide the interval between 0 and sonardist.sonarMax

Returns:

number of the bin into which this sonar reading should fall; any reading greater than or equal to c{sonarDist.sonarMax} is put into bin numBins - 1.

discreteSonarValue(d, numBins)

Parameters:

d - value of a sonar reading
numBins - number of bins into which to divide the interval between 0 and sonardist.sonarMax

Returns:

number of the bin into which this sonar reading should fall; any reading greater than or equal to c{sonarDist.sonarMax} is put into bin numBins - 1.