NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:27:09 +02:00
parent 5e7509d2b6
commit dc8f23bd5e
2 changed files with 4 additions and 6 deletions
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2
selflocalization/particle.py
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@ -67,7 +67,7 @@ def estimate_pose(particles_list):
sin_certainty = np.average([abs(np.sin(theta) - i) for i in sin_values]) 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]) 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): def move_particle(particle, delta_x, delta_y, delta_theta):

8
selflocalization/selflocalize.py
View File

@ -199,7 +199,7 @@ try:
num_particles = 2000 num_particles = 2000
particles = initialize_particles(num_particles) 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 # Driving parameters
velocity = 0.0 # cm/sec velocity = 0.0 # cm/sec
@ -252,10 +252,8 @@ try:
p.setWeight(1.0/num_particles) p.setWeight(1.0/num_particles)
particle.add_uncertainty(particles, SIGMA, SIGMA_THETA) particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
est_pose, certainty = particle.estimate_pose(particles) # The estimate of the robots current pose est_pose = particle.estimate_pose(particles) # The estimate of the robots current pose
print("Certainty: ", certainty) print(calc_weight(est_pose, landmark_values))
if certainty < 1:
break
if showGUI: if showGUI:
# Draw map # Draw map