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Summary
| Description |
English: Belief distributions for a non-sensing robot after moving for several steps in two dimensions. The diagram was generated using the following c++ code, hereby licensed under the same license as the diagram itself:
#include <iostream>
#include <cstdlib>
#include <cmath>
#include <ctime>
#include <vector>
#include <fstream>
#include <sstream>
using namespace std;
const int M = 2000;
const long double
ANGLE_NOISE = 0.04,
ANGLE_P_NOISE = 0.0002,
ANGLE_R_NOISE = 0.02,
R_NOISE = 3,
R_P_NOISE = 0.008,
PI = 3.1415926535897932384626433832795028;
struct particle {
long double x, y;
long double theta;
};
vector<particle>z;
particle qwer;
fstream fout("particle2d.svg", fstream::out);
ostringstream poly;
inline long double noise() {
return (rand()/(long double)RAND_MAX) - (rand()/(long double)RAND_MAX) + (rand()/(long double)RAND_MAX) - (rand()/(long double)RAND_MAX);
}
void move(long double r, long double t) {
qwer.theta += t;
qwer.x += r*cos(qwer.theta);
qwer.y += r*sin(qwer.theta);
for(int i=0; i<M; i++) {
z[i].theta += t + r*ANGLE_P_NOISE*noise() + ANGLE_NOISE*noise() + t*ANGLE_R_NOISE*noise();
z[i].x += r*cos(z[i].theta) + R_NOISE*noise() + r*R_P_NOISE*noise();
z[i].y += r*sin(z[i].theta) + R_NOISE*noise() + r*R_P_NOISE*noise();
fout << " <circle cx='" << z[i].x << "' cy='" << z[i].y << "' r='1' style='fill:#000;opacity:0.8;'/>" << endl;
}
fout << " <circle cx='" << qwer.x << "' cy='" << qwer.y << "' r='6' style='fill:#f30;'/>" << endl;
fout << " <path d='M" << qwer.x - r/2.4*cos(qwer.theta) << "," << qwer.y - r/2.4*sin(qwer.theta)
<< "L" << qwer.x - r/2*cos(qwer.theta - 0.05) << "," << qwer.y - r/2*sin(qwer.theta - 0.05)
<< "L" << qwer.x - r/2*cos(qwer.theta + 0.05) << "," << qwer.y - r/2*sin(qwer.theta + 0.05) << "' style='fill:#f30;'/>" << endl;
poly << qwer.x << ',' << qwer.y << ' ';
}
int main() {
particle start;
start.x = 800;
start.y = 100;
start.theta = 0;
qwer = start;
for(int i=0; i<M; i++) {
z.push_back(start);
}
fout << "<svg xmlns='http://www.w3.org/2000/svg' version='1.1' width='1600px' height='1000px'>" << endl;
fout << " <circle cx='" << qwer.x << "' cy='" << qwer.y << "' r='5' style='fill:#f30;'/>" << endl;
poly << qwer.x << ',' << qwer.y << ' ';
move(200, 0);
move(200, 0);
move(200, 0);
move(200, PI/2);
move(200, 0);
move(200, 0);
move(200, PI/2);
move(200, 0);
move(200, 0);
move(200, 0);
move(200, 0);
move(200, 0);
fout << "<polyline points='" << poly.str() << "' style='fill:none;stroke:#f30;stroke-width:2px' />" << endl;
fout << "</svg>" << endl;
fout.close();
}
|
| Date | |
| Source | Own work |
| Author | Daniel Lu |
Licensing
I, the copyright holder of this work, hereby publish it under the following license:
This file is licensed under the Creative Commons Attribution-Share Alike 3.0 Unported license.
- You are free:
- to share – to copy, distribute and transmit the work
- to remix – to adapt the work
- Under the following conditions:
- attribution – You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
- share alike – If you remix, transform, or build upon the material, you must distribute your contributions under the same or compatible license as the original.
File history
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| Date/Time | Thumbnail | Dimensions | User | Comment | |
|---|---|---|---|---|---|
| current | 07:57, 25 March 2013 | | 1,600 × 1,000 (1.74 MB) | Dllu | User created page with UploadWizard |
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