
¹nZ  ã               @   s@   d  Z  d d l Td d l m Z m Z Gd d „  d e ƒ Z d S)zÂ
In the particle viewer window:
   the WASD keys move the robot
  'e' forces an evaluation step
  'r' forces a resampling
  'v' displays the weight statistics
  'z' re-randomizes the particles.
é    )Ú*)ÚdegreesÚPosec                   s"   e  Z d  Z ‡  f d d †  Z ‡  S)ÚLab3c                s³   d t  d d d d t d ƒ ƒd t  d d d d t d ƒ ƒd t  d d d d t d ƒ ƒd t  d d d d t d ƒ ƒi } t t d	 | d
 t t ƒ ƒ} t ƒ  j d | ƒ d  S)Nr   é7   é    Úangle_zéZ   é   é   é   Ú	landmarksÚsensor_modelÚparticle_filteriÉÿÿÿiÉÿÿÿ)r   r   ÚParticleFilterÚrobotÚArucoDistanceSensorModelÚsuperÚ__init__)Úselfr   Úpf)Ú	__class__© ú:/afs/cs.cmu.edu/academic/class/15494-s18/labs/lab3/Lab3.pyr      s    $	zLab3.__init__)Ú__name__Ú
__module__Ú__qualname__r   r   r   )r   r   r      s   r   N)Ú__doc__Ú	cozmo_fsmÚ
cozmo.utilr   r   ÚStateMachineProgramr   r   r   r   r   Ú<module>   s   
