NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:07:57 +02:00
parent b0e4bcf85c
commit f2e3a7f56a
1 changed files with 4 additions and 2 deletions
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6
selflocalization/selflocalize.py
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@ -249,7 +249,9 @@ try:
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, certainty = particle.estimate_pose(particles) # The estimate of the robots current pose
print(certainty) print("Certainty: ", certainty)
if certainty < 1:
break
if showGUI: if showGUI:
# Draw map # Draw map
@ -261,7 +263,7 @@ try:
# Show world # Show world
cv2.imshow(WIN_World, world) cv2.imshow(WIN_World, world)
# drive_towards_middle(est_pose, arlo) drive_towards_middle(est_pose, arlo)
finally: finally: