def support (self, rho, phi, delta, r, result):
"""
Actual values for the {ukn, occ, ept, cft} hypotheses depend on the uncertainty theory used
Here we use a trivial 'hit-count' method
"""
delta_r = 0.02
k_occ =1.0
k_ept = 1.0
def f_occ(phi, delta,rho, r,delta_r, k_occ):
# check that cell at (rho, phi) is in the field of view
if (phi <= delta/2 and -phi <= delta/2):
if abs(rho - r) <= delta_r:
return k_occ * (1 - ((r - rho)/delta_r)**2)
elif 0 <= rho < r - delta_r:
return 0
elif rho >= r + delta_r:
return 0
else: # Unknown scenario
return 1.0
def f_ept(phi, delta,rho, r,delta_r, k_ept):
# check that cell at (rho, phi) is in the field of view
if (phi <= delta/2 and -phi <= delta/2):
if abs(rho - r) <= delta_r:
return k_ept * ((r - rho)/delta_r)**2
elif rho >= r:
return 0
elif 0 <= rho< r- delta_r:
return k_ept
else: # Unknown scenario
return 1.0
result.occ = f_occ(phi, delta,rho, r,delta_r, k_occ)
result.ept = f_ept(phi, delta,rho, r,delta_r, k_ept)
result.ukn = 0.0
result.cft = 0.0
return result
Replies to Por ti cono
Title |
Name |
Language |
UNIX |
When |
Re: Por ti cono |
Davide |
text |
1713169213 |
2 Weeks ago. |
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