Evan Zhao's bootcamp #95
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* TIME_STEP_SIZE * DISPLAY_SCALE
This fixes Pylint's 9.99 score to 10.00
| # Do something based on the report and the state of this class... | ||
| dx = self.waypoint.location_x - report.position.location_x | ||
| dy = self.waypoint.location_y - report.position.location_y | ||
| if dx**2 + dy**2 > self.acceptance_radius**2: |
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Rather than dx and dy, a more descriptive variable such as distance_to_waypoint_x would be better. Don't be afraid of long variable names!
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| def _calc_relative_dist( | ||
| self, loc1: location.Location, loc2: location.Location | ||
| ) -> "tuple[int, int]": |
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Great use of doc strings and type hinting! Although in this case we would be using floats and not only integers
| ) | ||
| else: | ||
| # otherwise, we go back to the origin | ||
| dx, dy = -report.position.location_x, -report.position.location_y |
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Great job handling the edge cases!
(You do not need to change anything here)
| best_index, shortest_dist = 0, self._calc_distance_squared( | ||
| report, landing_pad_locations[0] | ||
| ) | ||
| for i in range(1, len(landing_pad_locations)): |
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Great job recognizing that you can skip iterating through the first one!
(You do not need to change anything here)
| if self.achieved_waypoint: | ||
| # now we find the index of the landing pad closest to the drone | ||
| # while keeping that landing pad's distance (squared) | ||
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Although this works, it recalculates the closest landing pad constantly when travelling towards the closest landing pad. This is sort of wasted computation, since the closest landing pad will not change if you are travelling in a straight line towards it. Try to find a way to avoid this
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| # Detach the xyxy boxes to make a copy, | ||
| # move the copy into CPU space, | ||
| # and convert to a numpy array | ||
| boxes_cpu = ... | ||
| boxes_cpu = boxes_xyxy.cpu().numpy() |
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Please also make a copy by using detach() before cpu()
| for i in range(0, boxes_cpu.shape[0]): | ||
| successful, box = bounding_box.BoundingBox.create(bounds=boxes_cpu[i]) | ||
| if successful: | ||
| bounding_boxes.append(box) |
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In statistics, we usually discard the entire data point (the whole image) if part of it is broken (this bounding box), instead of only discarding the broken part.
(Just something to think about, you do not need to change anything here)
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Gotcha, thanks for letting me know!
| # now we find the index of the landing pad closest to the drone | ||
| # while keeping that landing pad's distance (squared) | ||
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| nearest_landing_pad = self._find_best_landing_pad(report, landing_pad_locations) |
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I mean you can move this find_best_landing_pad function to a different part, like the one right before this section.
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Hi, can you elaborate on what you mean here? Do you mean refactor the code by moving the function _find_best_landing_pad() to right before run()?
| @@ -68,10 +69,81 @@ def run( | |||
| # ↓ BOOTCAMPERS MODIFY BELOW THIS COMMENT ↓ | |||
| # ============ | |||
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| # Do something based on the report and the state of this class... | |||
| if not self.achieved_waypoint: | |||
| dx, dy = self._calc_relative_dist(report.position, self.waypoint) | |||
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You could use a more descriptive variable name here, like in the first task.
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