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2022-10-10 14:44:41 +02:00
parent 3e32a38ad2
commit f60b56587a
1 changed files with 2 additions and 2 deletions
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@ -254,10 +254,10 @@ try:
        particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
        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
+        est_weight = est_pose.weight * 10**10
        print("est_weight:", est_weight)
        print("certainty:", certainty)
-        if est_weight > 1 and certainty > 1:
+        if est_weight > 1:
            break
        else:
            arlo.go_diff(POWER, POWER, 0, 1)