update

Package/python/.gitignore

@@ -0,0 +1 @@
+dist

Package/python/publish.sh

@@ -0,0 +1,4 @@
+cp ../../README.md ./
+python setup.py sdist
+twine upload dist/*
+rm -r ./README.md

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",
+    },
+)

Package/python/src/.gitignore

@@ -0,0 +1 @@
+bellande_motion_probability.egg-info

Package/python/src/bellande_motion_probability/__init__.py

@@ -0,0 +1,3 @@
+"""
+ros_extension
+"""

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 <https://www.gnu.org/licenses/>.
+
+#!/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()

Package/rust/.gitignore

@@ -0,0 +1,2 @@
+target
+Cargo.lock

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"

Package/rust/publish.sh

@@ -0,0 +1,4 @@
+cp ../../README.md .
+bash ../../git_scripts/push.sh
+cargo publish
+rm -f README.md

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 <https://www.gnu.org/licenses/>.
+
+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<String>,
+
+    #[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<Value>,
+    search_radius: f64,
+    sample_points: i32,
+) -> Result<Value, Box<dyn Error>> {
+    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::<Value>()
+        .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<dyn Error>> {
+    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", &current_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<dyn Error>> {
+    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<Value> = 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(())
+}

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
+- [![Organization Website](https://img.shields.io/badge/Explore%20Our-Website-0099cc?style=for-the-badge)](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
+- [![Organization Github ](https://img.shields.io/badge/Explore%20Our-Github-0099cc?style=for-the-badge)](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 <https://www.gnu.org/licenses/>.
+# 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 <https://www.gnu.org/licenses/>.",
+    "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 
+- [![Website API Testing](https://img.shields.io/badge/Bellande%20API-Testing-0099cc?style=for-the-badge)](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.

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 <https://www.gnu.org/licenses/>.
+# 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

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 <https://www.gnu.org/licenses/>.
+# 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

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 <https://www.gnu.org/licenses/>.
+# 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

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 <https://www.gnu.org/licenses/>.",
+    "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"
+}

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 <https://www.gnu.org/licenses/>.",
+    "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"
+}

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 <https://www.gnu.org/licenses/>.",
+    "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"
+}

git_scripts/.gitignore

@@ -0,0 +1,3 @@
+fix_errors.sh
+push.sh
+repository_recal.sh

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 ""

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 ""