public void Test(Map map, Measurements measurements, List <Vector2> moves,
int iExpectedX, int iExpectedZ)
{
MonteCarloLocalizer loc = new MonteCarloLocalizer();
loc.Init(map);
int iX = (int)moves[0].x;
int iY = (int)moves[0].y;
loc.Move(iX, iY, 1f);
loc.Sense(measurements, 1f);
int mlX, mlZ;
loc.MostLikelyCell(out mlX, out mlZ);
if (iExpectedX == mlX && iExpectedZ == mlZ)
{
Debug.Log("Correct!");
}
else
{
Debug.LogError("Oops");
}
}
// Use this for initialization
void Start()
{
LocUnitTester tester = new LocUnitTester();
tester.TestB();
loc = new MonteCarloLocalizer();
loc.Init(mm.map);
vis = new ProbMapVisualizer();
vis.Init(25, likelyTM.gameObject);
//when we move at least full a cell dist, then sense again.
threshMove = mm.map.dX;
prevPos = Vector3.zero;
}