latest pushes

LICENSE

@@ -0,0 +1,17 @@
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License.
+To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/ or send a letter to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
+
+You are free to:
+
+- Share — copy and redistribute the material in any medium or format
+- Adapt — remix, transform, and build upon the material for any purpose, even commercially.
+
+Under the following terms:
+
+- Attribution — You must give appropriate credit, provide a link to the license, and indicate if changes were made. You may do so in any reasonable manner, but not in any way that suggests the licensor endorses you or your use.
+- ShareAlike — If you remix, transform, or build upon the material, you must distribute your contributions under the same license as the original.
+- No additional restrictions — You may not apply legal terms or technological measures that legally restrict others from doing anything the license permits.
+
+This is a human-readable summary of (and not a substitute for) the license. See the full license text for more details.

Package/python/.gitignore

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

Package/python/publish.sh

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+cp ../../README.md ./
+python setup.py sdist
+twine upload dist/*
+rm -r ./README.md

Package/python/setup.py

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+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

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+bellande_motion_probability.egg-info

Package/python/src/bellande_motion_probability/__init__.py

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+"""
+ros_extension
+"""

Package/python/src/bellande_motion_probability/bellande_motion_probability_api.py

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+# 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

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+target
+Cargo.lock

Package/rust/Cargo.toml

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+[package]
+name = "bellande_motion_probability"
+version = "0.1.1"
+edition = "2021"
+authors = ["Bellande Robotics Sensors Research Innovation Center"]
+description = "The Bellande Motion Probability algorithm calculates particle movement probabilities using Bellande distributions for enhanced 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

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+cp ../../README.md .
+bash ../../git_scripts/push.sh
+cargo publish
+rm -f README.md

Package/rust/src/bellande_motion_probability.rs

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+// 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

@@ -1,27 +1,145 @@
-# 📦 Bellande Motion Probabilistic
-## Multi-Dimensional/Infinity-Dimensional Search Path
+# 📦 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)
 
-# Can also checkout portion of the docs at [Portion API DOCS](https://github.com/Robotics-Sensors/bellande_motion_probabilistic/blob/main/api_docs.md)
+# 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
+```
+
+
+## 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_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 ""