NikolajDanger/Roboteksperimentarium
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NikolajDanger
2022-10-10 14:44:41 +02:00
parent 3e32a38ad2
commit f60b56587a
1 changed files with 2 additions and 2 deletions
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selflocalization/selflocalize.py
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@ -254,10 +254,10 @@ 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
calc_weight(est_pose, landmark_values) 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("est_weight:", est_weight)
print("certainty:", certainty) print("certainty:", certainty)
if est_weight > 1 and certainty > 1: if est_weight > 1:
break break
else: else:
arlo.go_diff(POWER, POWER, 0, 1) arlo.go_diff(POWER, POWER, 0, 1)