informationGain return 0 always about rrt_exploration HOT 2 CLOSED

def informationGain(mapData, point, r):
    gain = 0
    resolution = mapData.info.resolution
    width = mapData.info.width
    map_min_x = mapData.info.origin.position.x
    map_min_y = mapData.info.origin.position.y
    center_x = int(floor((point[0] - map_min_x) / resolution))
    center_y = int(floor((point[1] - map_min_y) / resolution))
    r_int = int(r / resolution)
    for idx_y in range(center_y - r_int, center_y + r_int + 1):
        for idx_x in range(center_x - r_int, center_x + r_int + 1):
            idx = idx_y * width + idx_x
            # skip grids out of map
            if idx < 0 or idx >= len(mapData.data):
                continue
            if mapData.data[idx] == -1:
                gain += 1
    return gain * resolution ** 2

I met the same problem with you and used this function to give me information gain, which works good. I am on Ubuntu 20.04 btw.

from rrt_exploration.

def informationGain(mapData, point, r):
    gain = 0
    resolution = mapData.info.resolution
    width = mapData.info.width
    map_min_x = mapData.info.origin.position.x
    map_min_y = mapData.info.origin.position.y
    center_x = int(floor((point[0] - map_min_x) / resolution))
    center_y = int(floor((point[1] - map_min_y) / resolution))
    r_int = int(r / resolution)
    for idx_y in range(center_y - r_int, center_y + r_int + 1):
        for idx_x in range(center_x - r_int, center_x + r_int + 1):
            idx = idx_y * width + idx_x
            # skip grids out of map
            if idx < 0 or idx >= len(mapData.data):
                continue
            if mapData.data[idx] == -1:
                gain += 1
    return gain * resolution ** 2

I met the same problem with you and used this function to give me information gain, which works good. I am on Ubuntu 20.04 btw.

Thanks a lot, this solves my problem.

from rrt_exploration.