Ejemplo n.º 1
0
 public synchronized void updateOneStep() {
   if (initFlag) {
     loc.update();
     int[] tXY = loc.getCurrentTruePosition();
     int[] sXY = loc.getCurrentReading();
     if (sXY != null) updateViewer(tXY[0], tXY[1], sXY[0], sXY[1]);
     else updateViewer(tXY[0], tXY[1], -1, -1);
   }
 }
Ejemplo n.º 2
0
  public void updateSensorView() {
    int x, y, h;
    String s = "";

    for (x = 0; x < rows; x++) {
      for (y = 0; y < cols; y++) {
        s = "";
        for (h = 1; h < 5; h++) {
          states[x][y][h].setText(s);
          states[x][y][h].setBackground(Color.white);
        }

        states[x][y][0].setBackground(Color.white);

        s += "" + loc.getOrXY(sXCount, sYCount, x, y);

        states[x][y][0].setText(s);
      }
    }
    states[sXCount][sYCount][4].setBackground(Color.cyan);

    if (++sYCount == cols) {
      sYCount = 0;
      if (++sXCount == rows) {
        sXCount = 0;
      }
    }
  }
Ejemplo n.º 3
0
  public void updateTransitionView() {

    int x, y, h;
    String s = "";

    for (x = 0; x < rows; x++) {
      for (y = 0; y < cols; y++) {
        for (h = 0; h < head; h++) {
          s = "" + loc.getTProb(tXCount, tYCount, tHCount, x, y, h);
          states[x][y][h].setText(s);
          states[x][y][h].setBackground(Color.white);
        }
        states[x][y][4].setBackground(Color.white);
        states[y][y][4].setText("");
      }
    }

    states[tXCount][tYCount][tHCount].setBackground(Color.cyan);
    // states[tX][tY][4].setText( Integer.toString( tH));
    if (++tHCount == head) {
      tHCount = 0;
      if (++tYCount == cols) {
        tYCount = 0;
        if (++tXCount == rows) {
          tXCount = 0;
        }
      }
    }
  }
Ejemplo n.º 4
0
  public synchronized void initLocViewer() {
    int[] start = loc.getCurrentTruePosition();

    updateViewer(start[0], start[1], -1, -1);
    initFlag = true;
    if (initFlag) {
      System.out.println("The viewer was already initialized, no changes");
    }
  }
Ejemplo n.º 5
0
  public void updateViewer(int tX, int tY, int sX, int sY) {
    int x, y, h, maxX, maxY;
    double posProb, posProbMax;

    posProb = 0.0;
    posProbMax = 0.0;
    maxX = maxY = -1;
    for (x = 0; x < rows; x++) {
      for (y = 0; y < cols; y++) {

        posProb = 0.0;
        posProb = loc.getCurrentProb(x, y);
        states[x][y][0].setText(String.format("%.4f", posProb));
        if (posProb == 0.0) {
          for (h = 0; h < 5; h++) {
            states[x][y][h].setBackground(Color.white);
          }
        } else if (posProb <= 0.1) {
          for (h = 0; h < 5; h++) {
            states[x][y][h].setBackground(Color.yellow);
          }

        } else if (posProb <= 0.3) {
          for (h = 0; h < 5; h++) {
            states[x][y][h].setBackground(Color.orange);
          }
        } else {
          for (h = 0; h < 5; h++) {
            states[x][y][h].setBackground(Color.red);
          }
        }
        if (posProb > posProbMax) {
          posProbMax = posProb;
          maxX = x;
          maxY = y;
        }
      }
    }
    if (maxX != -1) {
      states[maxX][maxY][0].setBackground(Color.lightGray);
      states[maxX][maxY][1].setBackground(Color.lightGray);
      states[maxX][maxY][2].setBackground(Color.lightGray);
      states[maxX][maxY][3].setBackground(Color.lightGray);
    }

    states[tX][tY][4].setBackground(Color.black);
    if (sX != -1) states[sX][sY][4].setBackground(Color.cyan);
  }
Ejemplo n.º 6
0
  public RobotLocalizationViewer(EstimatorInterface l) {
    loc = l;
    this.rows = loc.getNumRows();
    this.cols = loc.getNumCols();
    this.head = loc.getNumHead();

    runFlag = initFlag = false;

    sXCount = sYCount = 0;
    tXCount = tYCount = tHCount = 0;

    viewer = new JFrame("RobotLocalizer");
    viewer.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
    viewer.setResizable(false);
    JPanel fieldPanel = new JPanel();
    Dimension dState = new Dimension(30, 30);
    Dimension dPos = new Dimension(90, 90);
    fieldPanel.setLayout(new GridLayout(rows, cols));

    positions = new JPanel[rows][cols];
    states = new JTextField[rows][cols][5];

    for (int i = 0; i < rows; i++) {
      for (int j = 0; j < cols; j++) {
        positions[i][j] = new JPanel();
        positions[i][j].setPreferredSize(dPos);
        positions[i][j].setLayout(new BorderLayout());

        for (int h = 0; h < 5; h++) {
          states[i][j][h] = new JTextField();
          states[i][j][h].setPreferredSize(dState);
          states[i][j][h].setLayout(null);
          states[i][j][h].setBackground(Color.white);
          states[i][j][h].setText("");
          states[i][j][h].setHorizontalAlignment(JTextField.CENTER);
          states[i][j][h].setBorder(javax.swing.BorderFactory.createEmptyBorder());
        }
        positions[i][j].setBorder(new LineBorder(Color.black));
        positions[i][j].add(states[i][j][0], BorderLayout.NORTH);
        positions[i][j].add(states[i][j][1], BorderLayout.EAST);
        positions[i][j].add(states[i][j][2], BorderLayout.SOUTH);
        positions[i][j].add(states[i][j][3], BorderLayout.WEST);
        positions[i][j].add(states[i][j][4], BorderLayout.CENTER);
        fieldPanel.add(positions[i][j]);
      }
    }

    JPanel buttonPanel = new JPanel();
    JButton initButton = new JButton("Init filter");
    initButton.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            initLocViewer();
          }
        });

    JButton stepButton = new JButton("One step");
    stepButton.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            updateOneStep();
          }
        });

    JButton runButton = new JButton("Go");
    runButton.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            setRunFlag(true);
          }
        });
    JButton stopButton = new JButton("Stop");
    stopButton.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            setRunFlag(false);
          }
        });

    JPanel modelButtonPanel = new JPanel();
    JButton transButton = new JButton("Show transitions");
    transButton.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            updateTransitionView();
          }
        });

    JButton sensorButton = new JButton("Show sensor");
    sensorButton.addActionListener(
        new ActionListener() {
          public void actionPerformed(ActionEvent e) {
            updateSensorView();
          }
        });

    buttonPanel.add(initButton);

    buttonPanel.add(stepButton);
    buttonPanel.add(runButton);
    buttonPanel.add(stopButton);

    modelButtonPanel.setLayout(new GridLayout(2, 1));
    modelButtonPanel.add(transButton);
    modelButtonPanel.add(sensorButton);

    viewer.add(fieldPanel, BorderLayout.CENTER);
    viewer.add(buttonPanel, BorderLayout.SOUTH);
    viewer.add(modelButtonPanel, BorderLayout.WEST);

    viewer.pack();
    viewer.setVisible(true);
  }