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2022-10-10 14:27:09 +02:00
parent 5e7509d2b6
commit dc8f23bd5e
2 changed files with 4 additions and 6 deletions
--- a/selflocalization/particle.py
+++ b/selflocalization/particle.py
@ -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), certainty
+    return Particle(x, y, theta)
     
     
 def move_particle(particle, delta_x, delta_y, delta_theta):