/** @param args */
public static void main(String[] args) {
// Work on this map
RPLineMap lineMap = MapUtils.create2014Map2();
// Grid map configuration
// Grid junction numbers
int xJunctions = 10;
int yJunctions = 7;
float junctionSeparation = 30;
int xInset = 14;
int yInset = 31;
IGridMap gridMap =
GridMapViewer.createGridMap(
lineMap, xJunctions, yJunctions, xInset, yInset, junctionSeparation);
// the starting position of the robot for the simulation. This is not
// known in the action model or position distribution
int startGridX = 2;
int startGridY = 1;
// this converts the grid position into the underlying continuous
// coordinate frame
Point startPoint = gridMap.getCoordinatesOfGridPosition(startGridX, startGridY);
// starting heading
float startTheta = Heading.toDegrees(Heading.PLUS_X);
Pose startPose = new Pose(startPoint.x, startPoint.y, startTheta);
// This creates a simulated robot with single, forward pointing distance
// sensor with similar properties to the Lego ultrasonic sensor but
// without the noise
SimulatedRobot robot = SimulatedRobot.createSingleNoiseFreeSensorRobot(startPose, lineMap);
// This does the same as above but adds noise to the range readings
// SimulatedRobot robot = SimulatedRobot.createSingleSensorRobot(
// startPose, lineMap);
MarkovLocalisationSkeleton ml =
new MarkovLocalisationSkeleton(robot, lineMap, gridMap, junctionSeparation);
ml.visualise();
ml.run();
}
public TSP() {
GridMap providedMap = MapUtils.createMarkingWarehouseMap();
m = new Map(providedMap);
}