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@ -67,7 +67,7 @@ def estimate_pose(particles_list):
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sin_certainty = np.average([abs(np.sin(theta) - i) for i in sin_values])
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certainty = np.average([x_certainty, y_certainty, cos_certainty, sin_certainty])
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return Particle(x, y, theta)
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return Particle(x, y, theta), certainty
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def move_particle(particle, delta_x, delta_y, delta_theta):
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