NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:38:55 +02:00
parent a0eeeba787
commit 86b621fa9d
2 changed files with 4 additions and 4 deletions
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6
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
@ -252,11 +252,11 @@ try:
p.setWeight(1.0/num_particles)
particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
est_pose = particle.estimate_pose(particles) # The estimate of the robots current pose
est_pose, certainty = particle.estimate_pose(particles) # The estimate of the robots current pose
calc_weight(est_pose, landmark_values)
est_weight = est_pose.weight * 10**23
print(est_weight)
if est_weight > 1:
if est_weight > 1 and certainty > 1:
break
else:
arlo.go_diff(POWER, POWER, 0, 1)