NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 15:00:30 +02:00
parent 85319f7631
commit af3064ad4c
1 changed files with 1 additions and 1 deletions
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selflocalization/selflocalize.py
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@ -254,7 +254,7 @@ try:
particle.add_uncertainty(particles, SIGMA, SIGMA_THETA) particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
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
calc_weight(est_pose, landmark_values) calc_weight(est_pose, landmark_values)
est_weight = est_pose.weight * 10**10 est_weight = est_pose.weight
print("est_weight:", est_weight) print("est_weight:", est_weight)
if est_weight > 1: if est_weight > 1:
draw_world(est_pose, particles, world) draw_world(est_pose, particles, world)