diff --git a/Package/python/.gitignore b/Package/python/.gitignore
new file mode 100644
index 0000000..1521c8b
--- /dev/null
+++ b/Package/python/.gitignore
@@ -0,0 +1 @@
+dist
diff --git a/Package/python/publish.sh b/Package/python/publish.sh
new file mode 100755
index 0000000..64ae1ac
--- /dev/null
+++ b/Package/python/publish.sh
@@ -0,0 +1,4 @@
+cp ../../README.md ./
+python setup.py sdist
+twine upload dist/*
+rm -r ./README.md
diff --git a/Package/python/setup.py b/Package/python/setup.py
new file mode 100644
index 0000000..e23e46d
--- /dev/null
+++ b/Package/python/setup.py
@@ -0,0 +1,40 @@
+from setuptools import setup, find_packages
+
+with open("./README.md", "r", encoding="utf-8") as fh:
+ long_description = fh.read()
+
+setup(
+ name="bellande_motion_probability",
+ version="0.1.0",
+ description="The Bellande Motion Probability algorithm calculates particle movement probabilities using Bellande distributions for enhanced motion estimation",
+ long_description=long_description,
+ long_description_content_type="text/markdown",
+ author="RonaldsonBellande",
+ author_email="ronaldsonbellande@gmail.com",
+ packages=find_packages(where="src"),
+ package_dir={"": "src"},
+ include_package_data=True,
+ install_requires=[
+ "numpy",
+ ],
+ classifiers=[
+ "License :: OSI Approved :: GNU General Public License v3 (GPLv3)",
+ "Programming Language :: Python",
+ ],
+ keywords=["package", "setuptools"],
+ python_requires=">=3.0",
+ extras_require={
+ "dev": ["pytest", "pytest-cov[all]", "mypy", "black"],
+ },
+ entry_points={
+ 'console_scripts': [
+ 'bellande_motion_probability_api = bellande_motion_probability.bellande_motion_probability_api:main'
+ ],
+ },
+ project_urls={
+ "Home": "https://github.com/Robotics-Sensors/bellande_motion_probability",
+ "Homepage": "https://github.com/Robotics-Sensors/bellande_motion_probability",
+ "documentation": "https://github.com/Robotics-Sensors/bellande_motion_probability",
+ "repository": "https://github.com/Robotics-Sensors/bellande_motion_probability",
+ },
+)
diff --git a/Package/python/src/.gitignore b/Package/python/src/.gitignore
new file mode 100644
index 0000000..6dea853
--- /dev/null
+++ b/Package/python/src/.gitignore
@@ -0,0 +1 @@
+bellande_motion_probability.egg-info
diff --git a/Package/python/src/__init__.py b/Package/python/src/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/Package/python/src/bellande_motion_probability/__init__.py b/Package/python/src/bellande_motion_probability/__init__.py
new file mode 100644
index 0000000..14b2a3f
--- /dev/null
+++ b/Package/python/src/bellande_motion_probability/__init__.py
@@ -0,0 +1,3 @@
+"""
+ros_extension
+"""
diff --git a/Package/python/src/bellande_motion_probability/bellande_motion_probability_api.py b/Package/python/src/bellande_motion_probability/bellande_motion_probability_api.py
new file mode 100644
index 0000000..0a88a5f
--- /dev/null
+++ b/Package/python/src/bellande_motion_probability/bellande_motion_probability_api.py
@@ -0,0 +1,99 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+
+#!/usr/bin/env python3
+
+import requests
+import argparse
+import json
+import sys
+
+def make_bellande_motion_probability_request(particle_state, previous_pose, current_pose,
+ noise_params=None, search_radius=50, sample_points=20):
+ url = "https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Motion_Probability/bellande_motion_probability"
+
+ # Convert string inputs to lists if they're strings
+ if isinstance(particle_state, str):
+ particle_state = json.loads(particle_state)
+ if isinstance(previous_pose, str):
+ previous_pose = json.loads(previous_pose)
+ if isinstance(current_pose, str):
+ current_pose = json.loads(current_pose)
+ if isinstance(noise_params, str):
+ noise_params = json.loads(noise_params)
+
+ payload = {
+ "particle_state": particle_state,
+ "previous_pose": previous_pose,
+ "current_pose": current_pose,
+ "noise_params": noise_params or {
+ "trans_sigma": 0.1,
+ "rot_sigma": 0.1,
+ "head_sigma": 0.1
+ },
+ "search_radius": search_radius,
+ "sample_points": sample_points,
+ "auth": {
+ "authorization_key": "bellande_web_api_opensource"
+ }
+ }
+
+ headers = {
+ 'accept': 'application/json',
+ 'Content-Type': 'application/json'
+ }
+
+ try:
+ response = requests.post(url, json=payload, headers=headers)
+ response.raise_for_status()
+ return response.json()
+ except requests.RequestException as e:
+ print(f"Error making request: {e}", file=sys.stderr)
+ sys.exit(1)
+
+def main():
+ parser = argparse.ArgumentParser(description="Run Bellande Motion Probability API")
+ parser.add_argument("--particle-state", required=True,
+ help="Current particle state as JSON-formatted list [x, y, heading, weight]")
+ parser.add_argument("--previous-pose", required=True,
+ help="Previous pose as JSON-formatted list [x, y, heading]")
+ parser.add_argument("--current-pose", required=True,
+ help="Current pose as JSON-formatted list [x, y, heading]")
+ parser.add_argument("--noise-params",
+ help="Noise parameters as JSON object with trans_sigma, rot_sigma, and head_sigma")
+ parser.add_argument("--search-radius", type=float, default=50.0,
+ help="Search radius for motion probability calculation")
+ parser.add_argument("--sample-points", type=int, default=20,
+ help="Number of sample points for motion probability calculation")
+
+ args = parser.parse_args()
+
+ try:
+ result = make_bellande_motion_probability_request(
+ args.particle_state,
+ args.previous_pose,
+ args.current_pose,
+ args.noise_params,
+ args.search_radius,
+ args.sample_points
+ )
+
+ print(json.dumps(result, indent=2))
+ except json.JSONDecodeError as e:
+ print(f"Error: Invalid JSON format in input parameters - {e}", file=sys.stderr)
+ sys.exit(1)
+
+if __name__ == "__main__":
+ main()
diff --git a/Package/rust/.gitignore b/Package/rust/.gitignore
new file mode 100644
index 0000000..a9d37c5
--- /dev/null
+++ b/Package/rust/.gitignore
@@ -0,0 +1,2 @@
+target
+Cargo.lock
diff --git a/Package/rust/Cargo.toml b/Package/rust/Cargo.toml
new file mode 100644
index 0000000..b7d6c48
--- /dev/null
+++ b/Package/rust/Cargo.toml
@@ -0,0 +1,29 @@
+[package]
+name = "bellande_motion_probability"
+version = "0.1.0"
+edition = "2021"
+authors = ["Bellande Robotics Sensors Research Innovation Center"]
+description = "The Bellande Motion Probability algorithm calculates particle movement probabilities using Bellande distributions for enhanced robot motion estimation"
+license = "GPL-3.0-or-later"
+repository = "https://github.com/Robotics-Sensors/bellande_motion_probability"
+documentation = "https://bellande-robotics-sensors-research-innovation-center.org/api/bellande_motion_probability"
+homepage = "https://bellande-robotics-sensors-research-innovation-center.org"
+readme = "README.md"
+keywords = ["robotics", "motion-planning", "probability", "particle-filter", "state-estimation"]
+categories = ["science::robotics", "algorithms", "mathematics", "simulation"]
+
+[dependencies]
+reqwest = { version = "0.11", features = ["json", "rustls-tls"] }
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
+structopt = "0.3"
+tokio = { version = "1.0", features = ["full"] }
+thiserror = "1.0"
+anyhow = "1.0"
+rand = "0.8"
+nalgebra = "0.32"
+num-traits = "0.2"
+
+[lib]
+name = "bellande_motion_probability"
+path = "src/bellande_motion_probability.rs"
diff --git a/Package/rust/publish.sh b/Package/rust/publish.sh
new file mode 100755
index 0000000..7d4afa0
--- /dev/null
+++ b/Package/rust/publish.sh
@@ -0,0 +1,4 @@
+cp ../../README.md .
+bash ../../git_scripts/push.sh
+cargo publish
+rm -f README.md
diff --git a/Package/rust/src/bellande_motion_probability.rs b/Package/rust/src/bellande_motion_probability.rs
new file mode 100644
index 0000000..08b7fcd
--- /dev/null
+++ b/Package/rust/src/bellande_motion_probability.rs
@@ -0,0 +1,236 @@
+// Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+
+// You should have received a copy of the GNU General Public License
+// along with this program. If not, see .
+
+use reqwest;
+use serde_json::{json, Value};
+use std::error::Error;
+use std::path::{Path, PathBuf};
+use std::process::{self, Command};
+use structopt::StructOpt;
+
+#[derive(StructOpt, Debug)]
+#[structopt(
+ name = "bellande_motion_probability",
+ about = "Bellande Motion Probability Tool"
+)]
+struct Opt {
+ #[structopt(
+ long,
+ help = "Current particle state as JSON-formatted list [x, y, heading, weight]"
+ )]
+ particle_state: String,
+
+ #[structopt(long, help = "Previous pose as JSON-formatted list [x, y, heading]")]
+ previous_pose: String,
+
+ #[structopt(long, help = "Current pose as JSON-formatted list [x, y, heading]")]
+ current_pose: String,
+
+ #[structopt(
+ long,
+ help = "Noise parameters as JSON object with trans_sigma, rot_sigma, and head_sigma"
+ )]
+ noise_params: Option,
+
+ #[structopt(
+ long,
+ default_value = "50.0",
+ help = "Search radius for motion probability calculation"
+ )]
+ search_radius: f64,
+
+ #[structopt(
+ long,
+ default_value = "20",
+ help = "Number of sample points for motion probability calculation"
+ )]
+ sample_points: i32,
+
+ #[structopt(long, help = "Use local executable instead of API")]
+ use_executable: bool,
+}
+
+async fn make_bellande_motion_probability_request(
+ particle_state: Value,
+ previous_pose: Value,
+ current_pose: Value,
+ noise_params: Option,
+ search_radius: f64,
+ sample_points: i32,
+) -> Result> {
+ let client = reqwest::Client::new();
+ let url = "https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Motion_Probability/bellande_motion_probability";
+
+ let payload = json!({
+ "particle_state": particle_state,
+ "previous_pose": previous_pose,
+ "current_pose": current_pose,
+ "noise_params": noise_params.unwrap_or(json!({
+ "trans_sigma": 0.1,
+ "rot_sigma": 0.1,
+ "head_sigma": 0.1
+ })),
+ "search_radius": search_radius,
+ "sample_points": sample_points,
+ "auth": {
+ "authorization_key": "bellande_web_api_opensource"
+ }
+ });
+
+ let response = client
+ .post(url)
+ .header("accept", "application/json")
+ .header("Content-Type", "application/json")
+ .json(&payload)
+ .send()
+ .await?
+ .json::()
+ .await?;
+
+ Ok(response)
+}
+
+fn get_executable_path() -> PathBuf {
+ if cfg!(target_os = "windows") {
+ Path::new(env!("CARGO_MANIFEST_DIR")).join("Bellande_Motion_Probability.exe")
+ } else {
+ Path::new(env!("CARGO_MANIFEST_DIR")).join("Bellande_Motion_Probability")
+ }
+}
+
+fn run_bellande_motion_probability_executable(
+ particle_state: &str,
+ previous_pose: &str,
+ current_pose: &str,
+ noise_params: Option<&str>,
+ search_radius: f64,
+ sample_points: i32,
+) -> Result<(), Box> {
+ let executable_path = get_executable_path();
+ let passcode = "bellande_motion_probability_executable_access_key";
+
+ // Parse and validate inputs
+ let particle_state_val: Value = serde_json::from_str(particle_state)?;
+ let previous_pose_val: Value = serde_json::from_str(previous_pose)?;
+ let current_pose_val: Value = serde_json::from_str(current_pose)?;
+ let noise_params_val: Value = noise_params
+ .map(|n| serde_json::from_str(n))
+ .transpose()?
+ .unwrap_or(json!({
+ "trans_sigma": 0.1,
+ "rot_sigma": 0.1,
+ "head_sigma": 0.1
+ }));
+
+ // Validate particle state dimensions
+ let particle_state_arr = particle_state_val
+ .as_array()
+ .ok_or("Invalid particle state format")?;
+ if particle_state_arr.len() != 4 {
+ return Err("Particle state must have 4 components [x, y, heading, weight]".into());
+ }
+
+ // Validate pose dimensions
+ for (name, pose) in [
+ ("Previous pose", &previous_pose_val),
+ ("Current pose", ¤t_pose_val),
+ ] {
+ if let Some(arr) = pose.as_array() {
+ if arr.len() != 3 {
+ return Err(format!("{} must have 3 components [x, y, heading]", name).into());
+ }
+ }
+ }
+
+ // Prepare and run command
+ let mut command = Command::new(executable_path);
+ command.args(&[
+ passcode,
+ particle_state,
+ previous_pose,
+ current_pose,
+ &serde_json::to_string(&noise_params_val)?,
+ &search_radius.to_string(),
+ &sample_points.to_string(),
+ ]);
+
+ let output = command.output()?;
+
+ if output.status.success() {
+ println!("{}", String::from_utf8_lossy(&output.stdout));
+ Ok(())
+ } else {
+ Err(format!(
+ "Process failed: {}",
+ String::from_utf8_lossy(&output.stderr)
+ )
+ .into())
+ }
+}
+
+#[tokio::main]
+async fn main() -> Result<(), Box> {
+ let opt = Opt::from_args();
+
+ // Parse JSON strings to Values for validation
+ let particle_state: Value = serde_json::from_str(&opt.particle_state)
+ .map_err(|e| format!("Error parsing particle state: {}", e))?;
+ let previous_pose: Value = serde_json::from_str(&opt.previous_pose)
+ .map_err(|e| format!("Error parsing previous pose: {}", e))?;
+ let current_pose: Value = serde_json::from_str(&opt.current_pose)
+ .map_err(|e| format!("Error parsing current pose: {}", e))?;
+ let noise_params_ref = opt.noise_params.as_ref();
+ let noise_params: Option = noise_params_ref
+ .map(|n| serde_json::from_str(n))
+ .transpose()
+ .map_err(|e| format!("Error parsing noise parameters: {}", e))?;
+
+ if opt.use_executable {
+ // Run using local executable
+ if let Err(e) = run_bellande_motion_probability_executable(
+ &opt.particle_state,
+ &opt.previous_pose,
+ &opt.current_pose,
+ noise_params_ref.map(String::as_str),
+ opt.search_radius,
+ opt.sample_points,
+ ) {
+ eprintln!("Error: {}", e);
+ process::exit(1);
+ }
+ } else {
+ // Run using API
+ match make_bellande_motion_probability_request(
+ particle_state,
+ previous_pose,
+ current_pose,
+ noise_params,
+ opt.search_radius,
+ opt.sample_points,
+ )
+ .await
+ {
+ Ok(result) => {
+ println!("{}", serde_json::to_string_pretty(&result)?);
+ }
+ Err(e) => {
+ eprintln!("Error: {}", e);
+ process::exit(1);
+ }
+ }
+ }
+
+ Ok(())
+}
diff --git a/README.md b/README.md
index 6c6a05f..926c88c 100644
--- a/README.md
+++ b/README.md
@@ -1,31 +1,145 @@
-# 📦 Bellande Motion Probabilistic
-## Multi-Dimensional/Infinity-Dimensional Motion Probabilistic
-## BMP(Bellande Motion Probabilistic) Algorithm API
+# 📦 Bellande Motion Probability
-# Check Out Research Organization for open-source/semi-open-source API
-- https://robotics-sensors.github.io
-- Check out website for more information avaliable open-source API
+## 🧙 Organization Website
+- [](https://robotics-sensors.github.io)
-# API in api_docs
-- Temporarily Enabled
-- 2D Space
-- 3D Space
-- 4D Space
-- 5D Space
-- 6D Space
-- 7D Space
-- 8D Space
-- 9D Space
-- 10D Space
-- 11D Space
-- 12D Space
-- 13D Space
-- 14D Space
-- 15D Space
-- .....
-- Infinity-Dimention Space
+## 🧙 Organization Github
+- [](https://github.com/Robotics-Sensors)
+
+# Author, Creator and Maintainer
+- **Ronaldson Bellande**
+
+# API HTTP Usability (BELLANDE FORMAT)
+```
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+# GNU General Public License v3.0 or later
+
+url: https://bellande-robotics-sensors-research-innovation-center.org
+
+endpoint_path:
+ bellande_motion_probability: /api/Bellande_Motion_Probability/bellande_motion_probability
+
+Bellande_Framework_Access_Key: bellande_web_api_opensource
+```
+
+# API HTTP Usability (JSON FORMAT)
+```
+{
+ "license": [
+ "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+ "This program is free software: you can redistribute it and/or modify",
+ "it under the terms of the GNU General Public License as published by",
+ "the Free Software Foundation, either version 3 of the License, or",
+ "(at your option) any later version.",
+ "",
+ "This program is distributed in the hope that it will be useful,",
+ "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+ "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the",
+ "GNU General Public License for more details.",
+ "",
+ "You should have received a copy of the GNU General Public License",
+ "along with this program. If not, see .",
+ "GNU General Public License v3.0 or later"
+ ],
+ "url": "https://bellande-robotics-sensors-research-innovation-center.org",
+ "endpoint_path": {
+ "bellande_motion_probability": "/api/Bellande_Motion_Probability/bellande_motion_probability"
+ },
+ "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
+}
+```
+
+# API Payload Example
+```
+{
+ "particle_state": [0, 0, 0, 1.0],
+ "previous_pose": [0, 0, 0],
+ "current_pose": [100, 100, 90],
+ "noise_params": {
+ "trans_sigma": 0.1,
+ "rot_sigma": 0.1,
+ "head_sigma": 0.1
+ },
+ "search_radius": 50,
+ "sample_points": 20,
+ "auth": {
+ "authorization_key": "bellande_web_api_opensource"
+ }
+```
+
+# 🧙 Website Bellande API Testing
+- [](https://bellande-robotics-sensors-research-innovation-center.org/api/bellande_motion_probability_experiment)
+
+# Quick Bellande API Testing
+```
+curl -X 'POST' \
+ 'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Motion_Probability/bellande_motion_probability' \
+ -H 'accept: application/json' \
+ -H 'Content-Type: application/json' \
+ -d '{
+ "particle_state": [0, 0, 0, 1.0],
+ "previous_pose": [0, 0, 0],
+ "current_pose": [100, 100, 90],
+ "noise_params": {
+ "trans_sigma": 0.1,
+ "rot_sigma": 0.1,
+ "head_sigma": 0.1
+ },
+ "search_radius": 50,
+ "sample_points": 20,
+ "auth": {
+ "authorization_key": "bellande_web_api_opensource"
+ }
+ }'
+```
+
+# Bellande Motion_Probability Usage
+
+## Website Crates
+- https://crates.io/crates/bellande_motion_probability
+
+### Installation
+- `cargo add bellande_motion_probability`
+
+## Website PYPI
+- https://pypi.org/project/bellande_motion_probability
+
+### Installation
+- `$ pip install bellande_motion_probability`
+
+### Usage
+```
+bellande_motion_probability \
+ --particle-state "[1.0, 2.0, 0.5, 1.0]" \
+ --previous-pose "[0.0, 0.0, 0.0]" \
+ --current-pose "[1.0, 1.0, 0.5]" \
+ --noise-params '{"trans_sigma": 0.1, "rot_sigma": 0.1, "head_sigma": 0.1}'
+```
+
+### Upgrade (if not upgraded)
+- `$ pip install --upgrade bellande_motion_probability`
+
+```
+Name: bellande_motion_probability
+Summary: The Bellande Motion Probability algorithm calculates particle movement probabilities using Bellande distributions for enhanced robot motion estimation
+Home-page: github.com/Robotics-Sensors/bellande_motion_probability
+Author: Ronaldson Bellande
+Author-email: ronaldsonbellande@gmail.com
+License: GNU General Public License v3.0
+```
-# Can also checkout portion of the docs at [Portion API DOCS](https://github.com/Robotics-Sensors/bellande_motion_probabilistic/blob/main/api_docs.md)
## License
-This Algorithm or Models is distributed under the [Creative Commons Attribution-ShareAlike 4.0 International License](http://creativecommons.org/licenses/by-sa/4.0/), see [LICENSE](https://github.com/RonaldsonBellande/bellande_motion_probabilistic/blob/main/LICENSE) and [NOTICE](https://github.com/RonaldsonBellande/bellande_motion_probabilistic/blob/main/LICENSE) for more information.
+This Algorithm or Models is distributed under the [Creative Commons Attribution-ShareAlike 4.0 International License](http://creativecommons.org/licenses/by-sa/4.0/), see [LICENSE](https://github.com/RonaldsonBellande/bellande_step/blob/main/LICENSE) and [NOTICE](https://github.com/RonaldsonBellande/bellande_step/blob/main/LICENSE) for more information.
diff --git a/configs/bellande/http_configs.bellande b/configs/bellande/http_configs.bellande
new file mode 100644
index 0000000..a76d38c
--- /dev/null
+++ b/configs/bellande/http_configs.bellande
@@ -0,0 +1,21 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+# GNU General Public License v3.0 or later
+
+url: https://bellande-robotics-sensors-research-innovation-center.org
+
+endpoint_path:
+ bellande_motion_probability: /api/Bellande_Motion_Probability/bellande_motion_probability
+
+Bellande_Framework_Access_Key: bellande_web_api_opensource
diff --git a/configs/bellande/tcp_configs.bellande b/configs/bellande/tcp_configs.bellande
new file mode 100644
index 0000000..25e880a
--- /dev/null
+++ b/configs/bellande/tcp_configs.bellande
@@ -0,0 +1,21 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+# GNU General Public License v3.0 or later
+
+url: tcp://bellande-robotics-sensors-research-innovation-center.org
+
+endpoint_path:
+ bellande_motion_probability: /api/Bellande_Motion_Probability/bellande_motion_probability
+
+Bellande_Framework_Access_Key: bellande_web_api_opensource
diff --git a/configs/bellande/tls_configs.bellande b/configs/bellande/tls_configs.bellande
new file mode 100644
index 0000000..f1ea008
--- /dev/null
+++ b/configs/bellande/tls_configs.bellande
@@ -0,0 +1,21 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see .
+# GNU General Public License v3.0 or later
+
+url: tls://bellande-robotics-sensors-research-innovation-center.org
+
+endpoint_path:
+ bellande_motion_probability: /api/Bellande_Motion_Probability/bellande_motion_probability
+
+Bellande_Framework_Access_Key: bellande_web_api_opensource
diff --git a/configs/json/http_configs.json b/configs/json/http_configs.json
new file mode 100644
index 0000000..3be55e1
--- /dev/null
+++ b/configs/json/http_configs.json
@@ -0,0 +1,23 @@
+{
+ "license": [
+ "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+ "This program is free software: you can redistribute it and/or modify",
+ "it under the terms of the GNU General Public License as published by",
+ "the Free Software Foundation, either version 3 of the License, or",
+ "(at your option) any later version.",
+ "",
+ "This program is distributed in the hope that it will be useful,",
+ "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+ "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the",
+ "GNU General Public License for more details.",
+ "",
+ "You should have received a copy of the GNU General Public License",
+ "along with this program. If not, see .",
+ "GNU General Public License v3.0 or later"
+ ],
+ "url": "https://bellande-robotics-sensors-research-innovation-center.org",
+ "endpoint_path": {
+ "bellande_motion_probability": "/api/Bellande_Motion_Probability/bellande_motion_probability"
+ },
+ "Bellande_Framework_Access_Key": "bellande_web_api_opensource"
+}
diff --git a/configs/json/tcp_configs.json b/configs/json/tcp_configs.json
new file mode 100644
index 0000000..1ebb507
--- /dev/null
+++ b/configs/json/tcp_configs.json
@@ -0,0 +1,23 @@
+{
+ "license": [
+ "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+ "This program is free software: you can redistribute it and/or modify",
+ "it under the terms of the GNU General Public License as published by",
+ "the Free Software Foundation, either version 3 of the License, or",
+ "(at your option) any later version.",
+ "",
+ "This program is distributed in the hope that it will be useful,",
+ "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+ "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the",
+ "GNU General Public License for more details.",
+ "",
+ "You should have received a copy of the GNU General Public License",
+ "along with this program. If not, see .",
+ "GNU General Public License v3.0 or later"
+ ],
+ "url": "tcp://bellande-robotics-sensors-research-innovation-center.org",
+ "endpoint_path": {
+ "bellande_motion_probability": "/tcp/Bellande_Motion_Probability/bellande_motion_probability"
+ },
+ "Bellande_Framework_Access_Key": "bellande_tcp_api_opensource"
+}
diff --git a/configs/json/tls_configs.json b/configs/json/tls_configs.json
new file mode 100644
index 0000000..acae2c3
--- /dev/null
+++ b/configs/json/tls_configs.json
@@ -0,0 +1,23 @@
+{
+ "license": [
+ "Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande",
+ "This program is free software: you can redistribute it and/or modify",
+ "it under the terms of the GNU General Public License as published by",
+ "the Free Software Foundation, either version 3 of the License, or",
+ "(at your option) any later version.",
+ "",
+ "This program is distributed in the hope that it will be useful,",
+ "but WITHOUT ANY WARRANTY; without even the implied warranty of",
+ "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the",
+ "GNU General Public License for more details.",
+ "",
+ "You should have received a copy of the GNU General Public License",
+ "along with this program. If not, see .",
+ "GNU General Public License v3.0 or later"
+ ],
+ "url": "tls://bellande-robotics-sensors-research-innovation-center.org",
+ "endpoint_path": {
+ "bellande_motion_probability": "/tls/Bellande_Motion_Probability/bellande_motion_probability"
+ },
+ "Bellande_Framework_Access_Key": "bellande_tls_api_opensource"
+}
diff --git a/git_scripts/.gitignore b/git_scripts/.gitignore
new file mode 100644
index 0000000..e5a7a9c
--- /dev/null
+++ b/git_scripts/.gitignore
@@ -0,0 +1,3 @@
+fix_errors.sh
+push.sh
+repository_recal.sh
diff --git a/run_api.bellos b/run_api.bellos
new file mode 100755
index 0000000..04043f4
--- /dev/null
+++ b/run_api.bellos
@@ -0,0 +1,20 @@
+curl -X 'POST' \
+ 'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Motion_Probability/bellande_motion_probability' \
+ -H 'accept: application/json' \
+ -H 'Content-Type: application/json' \
+ -d '{
+ "particle_state": [0, 0, 0, 1.0],
+ "previous_pose": [0, 0, 0],
+ "current_pose": [100, 100, 90],
+ "noise_params": {
+ "trans_sigma": 0.1,
+ "rot_sigma": 0.1,
+ "head_sigma": 0.1
+ },
+ "search_radius": 50,
+ "sample_points": 20,
+ "auth": {
+ "authorization_key": "bellande_web_api_opensource"
+ }
+ }'
+echo ""
diff --git a/run_api.sh b/run_api.sh
new file mode 100755
index 0000000..04043f4
--- /dev/null
+++ b/run_api.sh
@@ -0,0 +1,20 @@
+curl -X 'POST' \
+ 'https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Motion_Probability/bellande_motion_probability' \
+ -H 'accept: application/json' \
+ -H 'Content-Type: application/json' \
+ -d '{
+ "particle_state": [0, 0, 0, 1.0],
+ "previous_pose": [0, 0, 0],
+ "current_pose": [100, 100, 90],
+ "noise_params": {
+ "trans_sigma": 0.1,
+ "rot_sigma": 0.1,
+ "head_sigma": 0.1
+ },
+ "search_radius": 50,
+ "sample_points": 20,
+ "auth": {
+ "authorization_key": "bellande_web_api_opensource"
+ }
+ }'
+echo ""