'''
The main program for the simulation. You will make some modifications to this file when answering
questions about the project.
'''

import pygame
import math
import numpy as np
from random import random
from histfilter import *
from landmark import *
from robot import *
from maze import *
from camera import *

### Initialize graphics ###
pygame.init()
screen = pygame.display.set_mode((1200, 900))
camera = Camera(screen, 0, 0)
maze = Maze(0, 0, 'maze.jpg', camera)
landmarks = [Landmark(random.random()*maze.get_width(), random.random()*maze.get_height(), camera) for _ in xrange(10)]
negative_landmarks = [Landmark(random.random()*maze.get_width(), random.random()*maze.get_height(), camera) for _ in xrange(50)]
robot = RobotBin(34, 263, 'car.png', camera, landmarks, negative_landmarks, maze)
camera.follow(robot)
clock = pygame.time.Clock()

### Initialize Filter ###
hfilter = HistogramFilter(5, maze.get_width(), maze.get_height(), landmarks, robot)


# Loop until QUIT event recieved
while pygame.QUIT not in (event.type for event in pygame.event.get()):

    ### Update World ###
    robot.controls()
    camera.update()

    ### Update Belief ###

    ## Motion Update ##
    odom = robot.odometry()
    hfilter.motion_update(odom)

    ## Measurement Update ##
    detections = robot.detect_landmarks()
    hfilter.sense_update(detections, odom)

    ### Draw World ###
    screen.fill((255, 255, 255))
    maze.blit(screen)
    robot.blit(screen)

    for landmark in landmarks:
        landmark.blit(screen)
    for (x, y) in detections:
        Landmark(x + robot.x - odom[0], y + robot.y - odom[1], camera).blit(screen, robot)

    hfilter.blit(screen, camera)
    pygame.display.flip()
    clock.tick(10)

57dace340ae31d77316a63968b5a88b481a5feee
<mask token>

<mask token>
pygame.init()
<mask token>
camera.follow(robot)
<mask token>
while pygame.QUIT not in (event.type for event in pygame.event.get()):
    robot.controls()
    camera.update()
    odom = robot.odometry()
    hfilter.motion_update(odom)
    detections = robot.detect_landmarks()
    hfilter.sense_update(detections, odom)
    screen.fill((255, 255, 255))
    maze.blit(screen)
    robot.blit(screen)
    for landmark in landmarks:
        landmark.blit(screen)
    for x, y in detections:
        Landmark(x + robot.x - odom[0], y + robot.y - odom[1], camera).blit(
            screen, robot)
    hfilter.blit(screen, camera)
    pygame.display.flip()
    clock.tick(10)

<mask token>
pygame.init()
screen = pygame.display.set_mode((1200, 900))
camera = Camera(screen, 0, 0)
maze = Maze(0, 0, 'maze.jpg', camera)
landmarks = [Landmark(random.random() * maze.get_width(), random.random() *
    maze.get_height(), camera) for _ in xrange(10)]
negative_landmarks = [Landmark(random.random() * maze.get_width(), random.
    random() * maze.get_height(), camera) for _ in xrange(50)]
robot = RobotBin(34, 263, 'car.png', camera, landmarks, negative_landmarks,
    maze)
camera.follow(robot)
clock = pygame.time.Clock()
hfilter = HistogramFilter(5, maze.get_width(), maze.get_height(), landmarks,
    robot)
while pygame.QUIT not in (event.type for event in pygame.event.get()):
    robot.controls()
    camera.update()
    odom = robot.odometry()
    hfilter.motion_update(odom)
    detections = robot.detect_landmarks()
    hfilter.sense_update(detections, odom)
    screen.fill((255, 255, 255))
    maze.blit(screen)
    robot.blit(screen)
    for landmark in landmarks:
        landmark.blit(screen)
    for x, y in detections:
        Landmark(x + robot.x - odom[0], y + robot.y - odom[1], camera).blit(
            screen, robot)
    hfilter.blit(screen, camera)
    pygame.display.flip()
    clock.tick(10)

<mask token>
import pygame
import math
import numpy as np
from random import random
from histfilter import *
from landmark import *
from robot import *
from maze import *
from camera import *
pygame.init()
screen = pygame.display.set_mode((1200, 900))
camera = Camera(screen, 0, 0)
maze = Maze(0, 0, 'maze.jpg', camera)
landmarks = [Landmark(random.random() * maze.get_width(), random.random() *
    maze.get_height(), camera) for _ in xrange(10)]
negative_landmarks = [Landmark(random.random() * maze.get_width(), random.
    random() * maze.get_height(), camera) for _ in xrange(50)]
robot = RobotBin(34, 263, 'car.png', camera, landmarks, negative_landmarks,
    maze)
camera.follow(robot)
clock = pygame.time.Clock()
hfilter = HistogramFilter(5, maze.get_width(), maze.get_height(), landmarks,
    robot)
while pygame.QUIT not in (event.type for event in pygame.event.get()):
    robot.controls()
    camera.update()
    odom = robot.odometry()
    hfilter.motion_update(odom)
    detections = robot.detect_landmarks()
    hfilter.sense_update(detections, odom)
    screen.fill((255, 255, 255))
    maze.blit(screen)
    robot.blit(screen)
    for landmark in landmarks:
        landmark.blit(screen)
    for x, y in detections:
        Landmark(x + robot.x - odom[0], y + robot.y - odom[1], camera).blit(
            screen, robot)
    hfilter.blit(screen, camera)
    pygame.display.flip()
    clock.tick(10)

'''
The main program for the simulation. You will make some modifications to this file when answering
questions about the project.
'''

import pygame
import math
import numpy as np
from random import random
from histfilter import *
from landmark import *
from robot import *
from maze import *
from camera import *

### Initialize graphics ###
pygame.init()
screen = pygame.display.set_mode((1200, 900))
camera = Camera(screen, 0, 0)
maze = Maze(0, 0, 'maze.jpg', camera)
landmarks = [Landmark(random.random()*maze.get_width(), random.random()*maze.get_height(), camera) for _ in xrange(10)]
negative_landmarks = [Landmark(random.random()*maze.get_width(), random.random()*maze.get_height(), camera) for _ in xrange(50)]
robot = RobotBin(34, 263, 'car.png', camera, landmarks, negative_landmarks, maze)
camera.follow(robot)
clock = pygame.time.Clock()

### Initialize Filter ###
hfilter = HistogramFilter(5, maze.get_width(), maze.get_height(), landmarks, robot)


# Loop until QUIT event recieved
while pygame.QUIT not in (event.type for event in pygame.event.get()):

    ### Update World ###
    robot.controls()
    camera.update()

    ### Update Belief ###

    ## Motion Update ##
    odom = robot.odometry()
    hfilter.motion_update(odom)

    ## Measurement Update ##
    detections = robot.detect_landmarks()
    hfilter.sense_update(detections, odom)

    ### Draw World ###
    screen.fill((255, 255, 255))
    maze.blit(screen)
    robot.blit(screen)

    for landmark in landmarks:
        landmark.blit(screen)
    for (x, y) in detections:
        Landmark(x + robot.x - odom[0], y + robot.y - odom[1], camera).blit(screen, robot)

    hfilter.blit(screen, camera)
    pygame.display.flip()
    clock.tick(10)
