montecarlo.pl

SLAM Gridsim use with sparer sensor

#!/usr/bin/perl

#$M = 10; # num monte carlo trials per datapoint
$M = 2;

# ["conf-prefix", "param-name", min, max, step size]
@experiments = (
# 		["test1", "rmax", 0.0, 15, 0.5, ""],
# 		["test1", "rho", 1, 180, 4, ""],
# 		["test1", "beamwidth", 0.0, 1.5708, 0.05236, ""], # 3 degree incs
# 		["test1", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
# 		["test1", "sigma-b", 0.0, 0.08727, 0.00218, ""],
# 		["test1", "err-e", 0.0, 0.5, 0.02, ""],
# 		["test1", "err-f", 0.0, 0.5, 0.02, ""],
# 		["test1", "frequency", 0.5, 20, 0.5, ""],

# 		["bearing-only", "rmax", 0.0, 15, 0.5, ""],
# 		["bearing-only", "rho", 1, 180, 4, ""],
# 		["bearing-only", "beamwidth", 0.0, 1.5708, 0.05236, ""], # 3 degree incs
# 		["bearing-only", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
# 		["bearing-only", "sigma-b", 0.0, 0.08727, 0.00218, ""],
# 		["bearing-only", "err-e", 0.0, 0.5, 0.02, ""],
# 		["bearing-only", "err-f", 0.0, 0.5, 0.02, ""],
# 		["bearing-only", "frequency", 0.5, 20, 0.5, ""],

# 		["range-only", "rmax", 0.0, 15, 0.5, ""],
# 		["range-only", "rho", 1, 180, 4, ""],
# 		["range-only", "beamwidth", 0.0, 1.5708, 0.05236, ""], # 3 degree incs
# 		["range-only", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
# 		["range-only", "sigma-b", 0.0, 0.08727, 0.00218, ""],
# 		["range-only", "err-e", 0.0, 0.5, 0.02, ""],
# 		["range-only", "err-f", 0.0, 0.5, 0.02, ""],
# 		["range-only", "frequency", 0.5, 20, 0.5, ""],

# 		["test1-mrf", "rmax", 0.0, 15, 0.5, "--mrf test.mrf"],
# 		["test1-mrf", "rho", 1, 180, 4, "--mrf test.mrf"],
# 		["test1-mrf", "beamwidth", 0.0, 1.5708, 0.05236, "--mrf test.mrf"], # 3 degree incs
# 		["test1-mrf", "sigma-r", 0.0, 10, 0.2, "--mrf test.mrf"], # up to rmax
# 		["test1-mrf", "sigma-b", 0.0, 0.08727, 0.00218, "--mrf test.mrf"],
# 		["test1-mrf", "err-e", 0.0, 0.5, 0.02, "--mrf test.mrf"],
# 		["test1-mrf", "err-f", 0.0, 0.5, 0.02, "--mrf test.mrf"],
# 		["test1-mrf", "frequency", 0.5, 20, 0.5, "--mrf test.mrf"],

#		["laser", "rmax", 0.0, 15, 0.5, ""],
#		["laser", "rho", 1, 180, 4, ""],
#                 ["laser", "beamwidth", 0.0, 1.5708, 0.1047, ""],
# 		["laser", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
#                ["laser", "sigma-b", 0.0, 0.08727, 0.003491, ""],
#		["laser", "err-e", 0.0, 0.5, 0.02, ""],
#		["laser", "err-f", 0.0, 0.5, 0.02, ""],
#		["laser", "frequency", 0.5, 20, 0.5, ""],

# 		["test1-ran", "rmax", 0.0, 15, 0.5, ""],
# 		["test1-ran", "rho", 1, 180, 4, ""],
# 		["test1-ran", "beamwidth", 0.0, 1.5708, 0.05236, ""], # 3 degree incs
# 		["test1-ran", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
# 		["test1-ran", "sigma-b", 0.0, 0.08727, 0.00218, ""],
# 		["test1-ran", "err-e", 0.0, 0.5, 0.02, ""],
# 		["test1-ran", "err-f", 0.0, 0.5, 0.02, ""],
# 		["test1-ran", "frequency", 0.5, 20, 0.5, ""],

#                 ["bearing-only-ran", "rmax", 0.0, 15, 0.5, ""],
#                 ["bearing-only-ran", "rho", 1, 180, 4, ""],
#                 ["bearing-only-ran", "beamwidth", 0.0, 1.5708, 0.1047, ""],                
#                 ["bearing-only-ran", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
#                 ["bearing-only-ran", "sigma-b", 0.0, 0.08727, 0.003491, ""],
#                 ["bearing-only-ran", "err-e", 0.0, 0.5, 0.02, ""],
#                 ["bearing-only-ran", "err-f", 0.0, 0.5, 0.02, ""],
#                 ["bearing-only-ran", "frequency", 0.5, 20, 0.5, ""],

# 		["range-only-ran", "rmax", 0.0, 15, 0.5, ""],
# 		["range-only-ran", "rho", 1, 180, 4, ""],
# 		["range-only-ran", "beamwidth", 0.0, 1.5708, 0.05236, ""], # 3 degree incs
# 		["range-only-ran", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
# 		["range-only-ran", "sigma-b", 0.0, 0.08727, 0.00218, ""],
# 		["range-only-ran", "err-e", 0.0, 0.5, 0.02, ""],
# 		["range-only-ran", "err-f", 0.0, 0.5, 0.02, ""],
# 		["range-only-ran", "frequency", 0.5, 20, 0.5, ""],

# 		["test1-mrf-ran", "rmax", 0.0, 15, 0.5, "--mrf test.mrf"],
# 		["test1-mrf-ran", "rho", 1, 180, 4, "--mrf test.mrf"],
# 		["test1-mrf-ran", "beamwidth", 0.0, 1.5708, 0.05236, "--mrf test.mrf"], # 3 degree incs
# 		["test1-mrf-ran", "sigma-r", 0.0, 10, 0.2, "--mrf test.mrf"], # up to rmax
# 		["test1-mrf-ran", "sigma-b", 0.0, 0.08727, 0.00218, "--mrf test.mrf"],
# 		["test1-mrf-ran", "err-e", 0.0, 0.5, 0.02, "--mrf test.mrf"],
# 		["test1-mrf-ran", "err-f", 0.0, 0.5, 0.02, "--mrf test.mrf"],
# 		["test1-mrf-ran", "frequency", 0.5, 20, 0.5, "--mrf test.mrf"],

# 		["laser-ran", "rmax", 0.0, 15, 0.5, ""],
# 		["laser-ran", "rho", 1, 180, 4, ""],
# 		["laser-ran", "beamwidth", 0.0, 1.5708, 0.05236, ""], # 3 degree incs
# 		["laser-ran", "sigma-r", 0.0, 10, 0.2, ""], # up to rmax
# 		["laser-ran", "sigma-b", 0.0, 0.08727, 0.00218, ""],
# 		["laser-ran", "err-e", 0.0, 0.5, 0.02, ""],
# 		["laser-ran", "err-f", 0.0, 0.5, 0.02, ""],
# 		["laser-ran", "frequency", 0.5, 20, 0.5, ""],


#meifon$
                ["sm-bearing-only-ran", "rmax", 0.0, 10, 0.5, ""],
                ["sm-bearing-only-ran", "rho", 1, 120, 3, ""],
                ["sm-bearing-only-ran", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-bearing-only-ran", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-bearing-only-ran", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-bearing-only-ran", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-bearing-only-ran", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-bearing-only-ran", "frequency", 0.5, 20, 1, ""],

#meifon$
                ["sm-laser-ran", "rmax", 0.0, 10, 0.5, ""],
                ["sm-laser-ran", "rho", 1, 120, 3, ""],
                ["sm-laser-ran", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-laser-ran", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-laser-ran", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-laser-ran", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-laser-ran", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-laser-ran", "frequency", 0.5, 20, 1, ""],

#marvin$
                ["sm-test1-ran", "rmax", 0.0, 10, 0.5, ""],
                ["sm-test1-ran", "rho", 1, 120, 3, ""],
                ["sm-test1-ran", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
		["sm-test1-ran", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-test1-ran", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-test1-ran", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-test1-ran", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-test1-ran", "frequency", 0.5, 20, 1, ""],

#phecda$
                ["sm-laser", "rmax", 0.0, 10, 0.5, ""],
                ["sm-laser", "rho", 1, 120, 3, ""],
                ["sm-laser", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-laser", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-laser", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-laser", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-laser", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-laser", "frequency", 0.5, 20, 1, ""],

#gort$
		["sm-test1", "rmax", 0.0, 10, 0.5, ""],
		["sm-test1", "rho", 1, 120, 3, ""],
		["sm-test1", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
		["sm-test1", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
		["sm-test1", "sigma-b", 0.0, 0.08727, 0.00437, ""],
		["sm-test1", "err-e", 0.0, 0.5, 0.05, ""],
		["sm-test1", "err-f", 0.0, 0.5, 0.05, ""],
		["sm-test1", "frequency", 0.5, 20, 1, ""],

#gort
                ["sm-bearing-only", "rmax", 0.0, 10, 0.5, ""],
                ["sm-bearing-only", "rho", 1, 120, 3, ""],
                ["sm-bearing-only", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-bearing-only", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-bearing-only", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-bearing-only", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-bearing-only", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-bearing-only", "frequency", 0.5, 20, 1, ""],

#robby
                ["sm-range-only-ran", "rmax", 0.0, 10, 0.5, ""],
                ["sm-range-only-ran", "rho", 1, 120, 3, ""],
                ["sm-range-only-ran", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-range-only-ran", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-range-only-ran", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-range-only-ran", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-range-only-ran", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-range-only-ran", "frequency", 0.5, 20, 1, ""],

#robby/dubhe
                ["sm-range-only", "rmax", 0.0, 10, 0.5, ""],
                ["sm-range-only", "rho", 1, 120, 3, ""],
                ["sm-range-only", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-range-only", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-range-only", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-range-only", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-range-only", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-range-only", "frequency", 0.5, 20, 1, ""],

#phecda$
                ["sm-test1-mrf", "rmax", 0.0, 10, 0.5, ""],
                ["sm-test1-mrf", "rho", 1, 120, 3, ""],
                ["sm-test1-mrf", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-test1-mrf", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-test1-mrf", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-test1-mrf", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-test1-mrf", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-test1-mrf", "frequency", 0.5, 20, 1, ""],

#dubhe$
                ["sm-laser-mrf", "rmax", 0.0, 10, 0.5, ""],
                ["sm-laser-mrf", "rho", 1, 120, 3, ""],
                ["sm-laser-mrf", "beamwidth", 0.0, 0.7854, 0.1047, ""],                
                ["sm-laser-mrf", "sigma-r", 0.0, 10, 0.25, ""], # up to rmax
                ["sm-laser-mrf", "sigma-b", 0.0, 0.08727, 0.00437, ""],
                ["sm-laser-mrf", "err-e", 0.0, 0.5, 0.05, ""],
                ["sm-laser-mrf", "err-f", 0.0, 0.5, 0.05, ""],
                ["sm-laser-mrf", "frequency", 0.5, 20, 1, ""],

		);

foreach $exp (@experiments) {
    my ($conf, $param, $min, $max, $step, $flags) = ($$exp[0], $$exp[1], $$exp[2], $$exp[3], $$exp[4], $$exp[5]);
    print "$conf $param (" . $M*(($max-$min)/$step) . " runs)\n";
    open OUT, ">results/$conf-$param.dat";
    for($cur = $min; $cur <= $max; $cur += $step) {
	print ".";
	my @means = (0, 0, 0, 0, 0, 0, 0);
	for($i = 0; $i < $M; ++$i) {
	    $out = `./sim -c $conf.conf --$param $cur $flags --nofiles`;
	    chomp $out;
	    my @res = split(/\s+/, $out);
	    for($j = 0; $j < 7; ++$j) { $means[$j] += $res[$j]/$M; }
	}
	print OUT "$cur";
	for($j = 0; $j < 7; ++$j) { print OUT " $means[$j]"; }
	print OUT "\n";
    }
    close OUT;
    print "\n\n";
}