Bugfixes and improved localization.

janphkre · janphkre · commit 753733a71446 · 2016-09-18T00:42:07.000+02:00
diff --git a/aima-core/src/main/java/aima/core/robotics/MonteCarloLocalization.java b/aima-core/src/main/java/aima/core/robotics/MonteCarloLocalization.java
@@ -93,7 +93,7 @@ public void setWeightCutOff(double cutOff) {
 	protected Set<P> applyMove(Set<P> samples, M move) {
 		Set<P> newSamples = new LinkedHashSet<P>();
 		for(P sample: samples) {
-			newSamples.add(sample.applyMovement(move));
+			newSamples.add(sample.applyMovement(move.generateNoise()));
 		}
 		return newSamples;
 	}
diff --git a/aima-gui/src/main/java/aima/gui/swing/demo/robotics/GenericMonteCarloLocalization2DApp.java b/aima-gui/src/main/java/aima/gui/swing/demo/robotics/GenericMonteCarloLocalization2DApp.java
@@ -428,7 +428,7 @@ public void actionPerformed(ActionEvent arg0) {
 				}
 			});
 			enableButtons(buttonStateStart);
-			localizationResult = new JLabel("<HTML>Result: <BR><BR></HTML>");
+			localizationResult = new JLabel("<HTML>Result: <BR><BR><BR></HTML>");
 			
 			JPanel leftPanel = new JPanel();
 			leftPanel.setBorder(GuiBase.getClearanceBorder());
@@ -649,6 +649,7 @@ protected void displayMove(final M move) {
 		
 		/**
 		 * Displays the sample cloud on the map.
+		 * @param samples the set of samples to be displayed.
 		 */
 		protected void displaySamples(Set<P> samples) {	
 			md.drawParticles(samples);
@@ -661,7 +662,7 @@ protected void displaySamples(Set<P> samples) {
 		 */
 		protected void displayResult(P result) {
 			if(result != null) {
-				String resultOutputString = "( " + GuiBase.getFormat().format(result.getX()) + " | " + GuiBase.getFormat().format(result.getY()) + " )";
+				String resultOutputString = "X: " + GuiBase.getFormat().format(result.getX()) + ",<BR>Y: " + GuiBase.getFormat().format(result.getY());
 				localizationResult.setText("<HTML>Result: <BR>" + resultOutputString + "</HTML>");
 				md.showResult(result);
 			} else {
@@ -674,7 +675,7 @@ protected void displayResult(P result) {
 		 */
 		protected void clearResult() {
 			md.clearResult();
-			localizationResult.setText("<HTML>Result: <BR><BR></HTML>");
+			localizationResult.setText("<HTML>Result: <BR><BR><BR></HTML>");
 		}
 		
 		/**
diff --git a/aima-gui/src/main/java/aima/gui/swing/demo/robotics/components/Settings.java b/aima-gui/src/main/java/aima/gui/swing/demo/robotics/components/Settings.java
@@ -484,6 +484,9 @@ protected void showGui() {
 			this.setVisible(true);
 		}
 		
+		/**
+		 * Enables all buttons that are registered in the Settings.
+		 */
 		protected void enableButtons() {
 			btnSave.setEnabled(true);
 			btnAbort.setEnabled(true);
@@ -493,6 +496,9 @@ protected void enableButtons() {
 			setDefaultCloseOperation(WindowConstants.HIDE_ON_CLOSE);
 		}
 		
+		/**
+		 * Disables all buttons that are registered in the Settings.
+		 */
 		protected void disableButtons() {
 			btnSave.setEnabled(false);
 			btnAbort.setEnabled(false);
diff --git a/aima-gui/src/main/java/aima/gui/swing/demo/robotics/simple/SimpleSettingsListener.java b/aima-gui/src/main/java/aima/gui/swing/demo/robotics/simple/SimpleSettingsListener.java
@@ -45,15 +45,15 @@ public void setRobot(VirtualRobot robot) {
 	public void createSettings() {
 		settingsGui.registerSetting(PARTICLE_COUNT_KEY, "Particle count", "2000");
 		settingsGui.registerSetting(MIN_WEIGHT_KEY, "Min. particle weight", "0.0");
-		settingsGui.registerSetting(MAX_DISTANCE_KEY, "Max. particle distance", "25.0");
+		settingsGui.registerSetting(MAX_DISTANCE_KEY, "Max. particle distance", "35.0");
 		settingsGui.registerSetting(SENSOR_RANGE_KEY, "Max. sensor range", "800.0");
 		
-		settingsGui.registerSetting(MOVE_ROTATION_NOISE_KEY, "Move rotation noise (rad)", "0.3647");
-		settingsGui.registerSetting(MOVE_DISTANCE_NOISE_KEY, "Move distance noise", "20.7188");
-		settingsGui.registerSetting(RANGE_READING_NOISE_KEY, "Range reading noise", "0.4486");
+		settingsGui.registerSetting(MOVE_ROTATION_NOISE_KEY, "Move rotation noise (rad)", "0.12");
+		settingsGui.registerSetting(MOVE_DISTANCE_NOISE_KEY, "Move distance noise", "3.0");
+		settingsGui.registerSetting(RANGE_READING_NOISE_KEY, "Range reading noise", "1.0");
 		settingsGui.registerSetting(MIN_MOVE_DISTANCE_KEY, "Min. move distance", "10.0");
-		settingsGui.registerSetting(MAX_MOVE_DISTANCE_KEY, "Max. move distance", "40.6");
-		settingsGui.registerSetting(BAD_DELTA_KEY, "Bad range delta", "100.0");
+		settingsGui.registerSetting(MAX_MOVE_DISTANCE_KEY, "Max. move distance", "40.0");
+		settingsGui.registerSetting(BAD_DELTA_KEY, "Bad range delta", "35.0");
 		
 		registerAbstractListener();
 		registerSimpleListener();
diff --git a/aima-gui/src/main/java/aima/gui/swing/demo/robotics/simple/VirtualRobotGui.java b/aima-gui/src/main/java/aima/gui/swing/demo/robotics/simple/VirtualRobotGui.java
@@ -4,7 +4,6 @@
 import aima.gui.swing.demo.robotics.components.AnglePanel;
 import aima.gui.swing.demo.robotics.components.IRobotGui;
 import aima.gui.swing.demo.robotics.components.Settings;
-import aima.gui.swing.demo.robotics.components.AnglePanel.ChangeListener;
 import aima.gui.swing.framework.util.GuiBase;
 
 /**

Original file line number	Diff line number	Diff line change
`@@ -93,7 +93,7 @@ public void setWeightCutOff(double cutOff) {`
`93`	`93`	`protected Set<P> applyMove(Set<P> samples, M move) {`
`94`	`94`	`Set<P> newSamples = new LinkedHashSet<P>();`
`95`	`95`	`for(P sample: samples) {`
`96`		`- newSamples.add(sample.applyMovement(move));`
	`96`	`+ newSamples.add(sample.applyMovement(move.generateNoise()));`
`97`	`97`	`}`
`98`	`98`	`return newSamples;`
`99`	`99`	`}`