NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:51:06 +02:00
parent f8de362c43
commit 1f9cb9069e
2 changed files with 9 additions and 17 deletions
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9
selflocalization/particle.py
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@ -60,14 +60,7 @@ def estimate_pose(particles_list):
x = x_sum
y = y_sum
theta = 0.0
x_certainty = np.average([abs(x - i) for i in x_values])
y_certainty = np.average([abs(y - i) for i in y_values])
cos_certainty = np.average([abs(np.cos(theta) - i) for i in cos_values])
sin_certainty = np.average([abs(np.sin(theta) - i) for i in sin_values])
certainty = np.average([x_certainty, y_certainty, cos_certainty, sin_certainty])
return Particle(x, y, theta), certainty
return Particle(x, y, theta)
def move_particle(particle, delta_x, delta_y, delta_theta):