Map

class Map(object)

The bi-dimensional grid map implementation for Monte Carlo Localization.

Each place in the map can contain or not a landmark. Each place is an element at the Map.matrix attribute and the presence of a landmark is denoted by 1 and the absence by 0. In the image representation returned by Map.get_image() landmarks are denoted by black squares.

Attributes

• __matrix: The map squared matrix representation.
• __size: The size of the map, i.e. the matrix dimension (since is a square matrix is just a number).
• __border: A Boolean flag indicating if the map has border or not.
• update_cb: A function to be called when the matrix change.

__init__

 | __init__(matrix: np.array, border: bool = False, update_cb: Callable = None)

Creates an instance of the Map object.

Arguments:

• matrix: The squared binary matrix to represent the map, 1 represents the landmark.
• border: A flag indicating if the map has border or not.
• update_cb: The callback function called when the matrix change. Although optional, the function Map.shuffle() and Map.swap(e1, e2) just work if the Map.update_cb is filled.

striped

 | @classmethod
 | striped(cls, size: int, border=False)

Generate a Map with matrix of shape (size, size) with horizontal stripes. The first row has landmarks.

Arguments:

• size: The map size/dimension.
• border: A flag indicating if the map has border or not.

Returns:

The generated striped Map instance.

random

 | @classmethod
 | random(cls, size: int, number_of_landmarks: int, border=False)

Generate a random Map with matrix of shape (size, size) with a specific number of landmarks.

Arguments:

• size: The map size/dimension.
• number_of_landmarks: The number of landmarks.
• border: A flag indicating if the map has border or not.

Returns:

A randomly generated Map instance.

shuffle

 | shuffle()

Shuffle the Map matrix, this means randomly place the landmarks. Also call the update callback indicating that change.

swap

 | swap(e1, e2)

Swap the landmarks location. And call the update callback indicating a change in the matrix.

Arguments:

• e1: Coordinate of the landmark.
• e2: Coordinate of the landmark.

border

 | @property
 | border()

Returns:

True if this Map has border, False otherwise.

__getitem__

 | __getitem__(item)

Returns:

The item at the matrix. Same as matrix[item]

matrix

 | @property
 | matrix()

Returns:

The matrix representation of the map. This is NOT a copy, and NEVER change it.

landmarks_coordinates

 | @property
 | landmarks_coordinates()

Returns:

The coordinates of places with landmarks (black at image representation).

no_landmarks_coordinates

 | @property
 | no_landmarks_coordinates()

Returns:

The coordinates of places without landmarks (white at image representation).

size

 | @property
 | size() -> int

Returns:

The map dimension/size.

get_image

 | get_image() -> Image

Generate the Image object of the actual map. Black represents the landmarks (ones in the matrix) and white the absence of landmarks (zeros in the matrix).

Returns:

The generated image.

copy

 | copy()

Returns:

The deepcopy of this object.