NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:27:09 +02:00
parent 5e7509d2b6
commit dc8f23bd5e
2 changed files with 4 additions and 6 deletions
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8
selflocalization/selflocalize.py
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@@ -199,7 +199,7 @@ try:
num_particles = 2000
particles = initialize_particles(num_particles)
est_pose, _ = particle.estimate_pose(particles) # The estimate of the robots current pose
est_pose = particle.estimate_pose(particles) # The estimate of the robots current pose
# Driving parameters
velocity = 0.0 # cm/sec
@@ -252,10 +252,8 @@ try:
p.setWeight(1.0/num_particles)
particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
est_pose, certainty = particle.estimate_pose(particles) # The estimate of the robots current pose
print("Certainty: ", certainty)
if certainty < 1:
break
est_pose = particle.estimate_pose(particles) # The estimate of the robots current pose
print(calc_weight(est_pose, landmark_values))
if showGUI:
# Draw map