3
J\                 @   s4   d Z ddlT ddlmZmZ dZG dd deZdS )z
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.
    )*)degreesPose2   c                   s   e Zd Z fddZ  ZS )Lab3c          	      sv   t dddtddt dddtddt dddtddt dddtddd}tt|ttd}t jd|d	d
 d S )N7      r   Z   )angle_z)zAruco-0zAruco-1zAruco-2zAruco-3)	landmarkssensor_modelr   T)aruco_marker_sizeparticle_filterparticle_viewerii)r   r   ParticleFilterrobotArucoDistanceSensorModelsuper__init__)selfr   pf)	__class__ 	./Lab3.pyr      s    zLab3.__init__)__name__
__module____qualname__r   __classcell__r   r   )r   r   r      s   r   N)__doc__	cozmo_fsm
cozmo.utilr   r   ARUCO_MARKER_SIZEStateMachineProgramr   r   r   r   r   <module>   s   