slam_variables.py

import numpy as np
from helpers import make_data

# your implementation of slam should work with the following inputs
# feel free to change these input values and see how it responds!

# world parameters
num_landmarks      = 5        # number of landmarks
N                  = 20       # time steps
world_size         = 100.0    # size of world (square)

# robot parameters
measurement_range  = 50.0     # range at which we can sense landmarks
motion_noise       = 2.0      # noise in robot motion
measurement_noise  = 2.0      # noise in the measurements
distance           = 20.0     # distance by which robot (intends to) move each iteratation 


# make_data instantiates a robot, AND generates random landmarks for a given world size and number of landmarks
data = make_data(N, num_landmarks, world_size, measurement_range, motion_noise, measurement_noise, distance)