This commit is contained in:
NikolajDanger
2022-10-10 14:38:55 +02:00
parent a0eeeba787
commit 86b621fa9d
2 changed files with 4 additions and 4 deletions

View File

@ -67,7 +67,7 @@ def estimate_pose(particles_list):
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)
return Particle(x, y, theta), certainty
def move_particle(particle, delta_x, delta_y, delta_theta):