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Copy pathparticlefilter_rob_pro.py
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particlefilter_rob_pro.py
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import numpy as np
import sys
import decimal
import matplotlib.pyplot as plt
import pylab
import random
import time
def main():
def GaussianKernel(v1, v2, sigma):
d=math.fabs(v1-v2)
return ((1/math.sqrt(2*pi*(sigma))))*exp((-1)*(math.pow(d,2)/(sigma*2)))
upd_xy = np.zeros(shape=(500,2))
filew = open('partlog.txt', 'r+b')
xy = np.zeros(shape=(500,2))
max_x =5.0
max_y =5.0
a = decimal.Decimal('1')
b = decimal.Decimal('200')
c = a/b
weight= np.float32(c)*np.ones(500,dtype=float)
upd_weight= np.zeros(500,dtype=float)
part_dist=np.ones(shape=(500,1),dtype=float)
act_rob_pos=np.ones(shape=(25,2),dtype=float)
rob_dist=np.ones(shape=(25,1),dtype=float)
for i in range(0,200):
for j in range(0,2):
xy[i][0]=random.uniform(0.0, 5.0)
xy[i][1]=random.uniform(0.0, 5.0)
act_rob_pos[0][0]=random.uniform(0.0, 5.0)
act_rob_pos[0][1]=random.uniform(0.0, 5.0)
#for i in range(0,500):
# figure(0)
# pylab.xlim(0,5)
# pylab.ylim(0,5)
# plt.plot(xy[i][0],xy[i][1],'bx')
# plt.plot(act_rob_pos[0][0],act_rob_pos[0][1],'ro')
#plt.show()
ts1 = time.time()
for k in range (0,20):
l= "step "+str(k)+"\n"
filew.write(l)
x = random.randint(0,3)
print x
if(x==0):#right
robtemp= act_rob_pos[k][0]
act_rob_pos[k][0] = act_rob_pos[k-1][0]+0.2+(random.random()*0.2)-(0.2/2)
if(act_rob_pos[k][0]>max_x):
act_rob_pos[k][0]=robtemp
d1 = act_rob_pos[k][0]-max_x
d2 = 0
robdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
robdist1=robdx1+(random.random()*0.25)-(0.25/2)
for i in range(0,500):
temp =xy[i][0]
xy[i][0]=xy[i][0]+0.2
if(xy[i][0]>max_x):
xy[i][0]=temp
d1 = xy[i][0]-max_x
d2 = xy[i][1]-act_rob_pos[k][1]
partdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
partdist1= partdx1+(random.random()*0.25)-(0.25/2)
kernel=GaussianKernel(robdist1,partdist1,0.3)
updweight=np.float32(kernel)
weight[i]=updweight
if(x==1):#left
robtemp=act_rob_pos[k][0]
act_rob_pos[k][0] = act_rob_pos[k-1][0]-0.2+(random.random()*0.2)-(0.2/2)
if(act_rob_pos[k][0]<0):
act_rob_pos[k][0]=robtemp
d1 = act_rob_pos[k][0]-0
d2 = 0
robdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
robdist2=robdx1+(random.random()*0.25)-(0.25/2)
for i in range(0,500):
temp =xy[i][0]
xy[i][0]=xy[i][0]-0.2
if(xy[i][0]<0):
xy[i][0]=temp
d1 = xy[i][0]-0
d2 = xy[i][1]-act_rob_pos[k][1]
partdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
partdist2= partdx1+(random.random()*0.25)-(0.25/2)
kernel=GaussianKernel(robdist2,partdist2,0.3)
updweight=np.float32(kernel)
weight[i]=updweight
if(x==2):#up
robtemp=act_rob_pos[k][1]
act_rob_pos[k][1] = act_rob_pos[k-1][1]+0.2+(random.random()*0.2)-(0.2/2)
if(act_rob_pos[k][1]>max_y):
act_rob_pos[k][0]=robtemp
d1 = 0
d2 = act_rob_pos[k][1]-max_y
robdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
robdist3=robdx1+(random.random()*0.25)-(0.25/2)
for i in range(0,500):
temp =xy[i][1]
xy[i][1]=xy[i][1]+0.2
if(xy[i][1]>max_y):
xy[i][1]=temp
d1 = xy[i][0]-act_rob_pos[k][0]
d2 = xy[i][1]-max_y
partdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
partdist3= partdx1+(random.random()*0.25)-(0.25/2)
kernel=GaussianKernel(robdist3,partdist3,0.3)
updweight=np.float32(kernel)
weight[i]=updweight
if(x==3):
robtemp=act_rob_pos[k][1]
act_rob_pos[k][1] = act_rob_pos[k-1][1]-0.2+(random.random()*0.2)-(0.2/2)
if(act_rob_pos[k][1]<0):
act_rob_pos[k][0]=robtemp
d1 = 0
d2 = act_rob_pos[k][1]-0
robdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
robdist4=robdx1+(random.random()*0.25)-(0.25/2)
for i in range(0,500):
temp =xy[i][1]
xy[i][1]=xy[i][1]-0.2
if(xy[i][1]<0):
xy[i][0]=temp
d1 = xy[i][0]-act_rob_pos[k][0]
d2 = xy[i][1]-0
partdx1 = math.sqrt(math.pow(d1,2)+math.pow(d2,2))
partdist4= partdx1+(random.random()*0.25)-(0.25/2)
kernel=GaussianKernel(robdist4,partdist4,0.3)
updweight=np.float32(kernel)
weight[i]=updweight
kkk=0
sumx= weight.sum()
weight=float(1/sumx)*(weight)
cum=np.zeros(501,dtype=float)
cum[0]=0
#print weight
for i in range(0,500):
cum[i+1]=cum[i]+weight[i]
#print cum
noofpart =np.zeros(500,dtype=int)
for i in range(0,500):
f=random.uniform(0.0, 1.0)
for m in range(0,500):
if(f>cum[m] and f<= cum[m+1]):
noofpart[m]+=1
#print noofpart
for i in range(0,500):
for m in range(0,noofpart[i]):
#print "yes"
upd_xy[kkk][0] =xy[i][0]
upd_xy[kkk][1] =xy[i][1]
upd_weight[kkk] =weight[i]
kkk+=1
#print upd_xy
for i in range(0,500):
xy[i][0]=upd_xy[i][0]
xy[i][1]=upd_xy[i][1]
#print xy
weight=upd_weight
ts2 = time.time()
for i in range(0,500):
s = " particle "+str(i)+" (x, y) = ( "+str(xy[i][0])+" "+str(xy[i][1]) +" ), weight ="+ str(weight[i]) +"\n"
filew.write(s)
#for i in range(0,500):
# figure(k+1)
# pylab.xlim(0,5)
# pylab.ylim(0,5)
# plt.plot(xy[i][0],xy[i][1],'bx')
# plt.plot(act_rob_pos[k][0],act_rob_pos[k][1],'ro')
#plt.show()
if __name__ == '__main__':
main()