1. def support (self, rho, phi, delta, r, result):
2.         """
3.         Actual values for the {ukn, occ, ept, cft} hypotheses depend on the uncertainty theory used
4.         Here we use a trivial 'hit-count' method
5.         """
6.  
7.         delta_r = 0.02
8.         k_occ =1.0
9.         k_ept = 1.0
10.        
11.         def f_occ(phi, delta,rho, r,delta_r, k_occ):
12.             # check that cell at (rho, phi) is in the field of view
13.             if (phi <= delta/2 and -phi <= delta/2):
14.                 if abs(rho - r) <= delta_r:
15.                     return k_occ * (1 -  ((r - rho)/delta_r)**2)
16.                 elif 0 <= rho < r - delta_r:
17.                     return 0
18.                 elif rho >= r + delta_r:
19.                     return 0
20.             else: # Unknown scenario
21.                 return 1.0
22.        
23.         def f_ept(phi, delta,rho, r,delta_r, k_ept):
24.             # check that cell at (rho, phi) is in the field of view
25.             if (phi <= delta/2 and -phi <= delta/2):
26.                 if abs(rho - r) <= delta_r:
27.                     return k_ept * ((r - rho)/delta_r)**2
28.                 elif rho >= r:
29.                     return 0
30.                 elif 0 <= rho< r- delta_r:
31.                     return k_ept
32.             else: # Unknown scenario
33.                 return 1.0
34.        
35.         result.occ = f_occ(phi, delta,rho, r,delta_r, k_occ)
36.         result.ept = f_ept(phi, delta,rho, r,delta_r, k_ept)
37.         result.ukn = 0.0
38.         result.cft = 0.0
39.         return result
40.        
41. def fuse (self, old, new):
42.         """
43.         Fuse the new values for (ukn, occ, ept, cft) with the previous ones
44.         Return the fused values
45.         Fusion details depend on the uncertainty theory,
46.         here we use a trivial count of the 'occ', 'ept' hits
47.         """
48.         # Fusion rule: Take maximum support value for each hypothesis
49.         old.occ = min(old.occ, new.occ)
50.         old.ept = min(old.ept, new.ept)
51.         self.ukn = old.ukn
52.         self.cft = old.cft
53.        
54.         return old