// Start is called before the first frame update
void Start()
{
// Wait for evaluation metrix to initialize first
Evaluation evalScript = GameObject.Find("Evaluation").GetComponent <Evaluation>();
string evalType = evalScript.GetEvalType();
Debug.Log(evalType);
if (evalType == "advanced")
{
evalAdvanced = true;
}
else if (evalType == "advanced_triangulate")
{
evalAdvanced = true;
evalTriangulate = true;
}
// Define the world boundary based on camera projection
X_LENGTH = 2 * main_camera.orthographicSize * Screen.width / Screen.height;
Y_LENGTH = 2 * main_camera.orthographicSize;
// Number of particles is the amount of particles that can cover the map
NUM_PARTICLES = (int)X_LENGTH * (int)Y_LENGTH;
// Set random seed
Random.InitState(SEED);
// Set initial position
_agentPosition = transform.position;
// Get Lidar script
_lidar_script = GetComponent <Lidar>();
_lidar_precision_radians = _lidar_script.GetLidarPrecisionRadians();
// Initialize particles
_beliefStates = new GameObject[NUM_PARTICLES];
_weights = new float[NUM_PARTICLES];
_particleParent = new GameObject();
_particleParent.name = gameObject.name + "_particleParent";
for (int i = 0; i < (int)X_LENGTH; i++)
{
for (int j = 0; j < (int)Y_LENGTH; j++)
{
float x = i - (int)X_LENGTH / 2;
float y = j - (int)Y_LENGTH / 2;
GameObject particle = Instantiate(particlePrefab, new Vector3(x, y, -2), Quaternion.identity);
particle.transform.SetParent(_particleParent.transform);
_beliefStates[i + j * (int)X_LENGTH] = particle;
_weights[i + j * (int)X_LENGTH] = 0.01f;
}
}
// Create belief position
_beliefPosition = Instantiate(beliefPositionPrefab, new Vector3(0, 0, -2), Quaternion.identity);
_beliefPosition.GetComponent <Renderer>().materials = GetComponent <Renderer>().materials;
// Find other agents for cooperative localization
_agents = GameObject.FindGameObjectsWithTag("agents");
}
