robot_class.py

class robot:
    
    #move function
    def move(self, dx, dy):
        
        x = self.x + dx + self.rand() * self.motion_noise
        y = self.y + dy + self.rand() * self.motion_noise
        
        if x < 0.0 or x > self.world_size or y < 0.0 or y > self.world_size:
            return False
        else:
            self.x = x
            self.y = y
            return True
    
    
    #sense function
    def sense(self):
        measurements = []

        for landmark_index, landmark in enumerate(self.landmarks):
            landmark_distance_x = landmark[0]
            landmark_distance_y = landmark[1]
            random_noise = self.rand()
            cal_dx = self.x - landmark_distance_x + random_noise * self.measurement_noise
            cal_dy = self.y - landmark_distance_y + random_noise * self.measurement_noise
            is_not_in_measurement_range = self.measurement_range == -1
            if(is_not_in_measurement_range) or ((abs(cal_dx) <= self.measurement_range) and (abs(cal_dy) <= self.measurement_range)):
                measurements.append([landmark_index, cal_dx, cal_dy])
        return measurements