From 02f14e425efab343a26acbbf2feeb139cbe337b6 Mon Sep 17 00:00:00 2001
From: Guillaume Jacquenot <guillaume.jacquenot@gmail.com>
Date: Sat, 7 Dec 2019 22:13:20 +0100
Subject: [PATCH] Replaced sqrt(x**2+y**2) with hypot in
 SLAM/EKFSLAM/ekf_slam.py

---
 SLAM/EKFSLAM/ekf_slam.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/SLAM/EKFSLAM/ekf_slam.py b/SLAM/EKFSLAM/ekf_slam.py
index 22ccd8d6..66234b57 100644
--- a/SLAM/EKFSLAM/ekf_slam.py
+++ b/SLAM/EKFSLAM/ekf_slam.py
@@ -76,7 +76,7 @@ def observation(xTrue, xd, u, RFID):
 
         dx = RFID[i, 0] - xTrue[0, 0]
         dy = RFID[i, 1] - xTrue[1, 0]
-        d = math.sqrt(dx ** 2 + dy ** 2)
+        d = math.hypot(dx, dy)
         angle = pi_2_pi(math.atan2(dy, dx) - xTrue[2, 0])
         if d <= MAX_RANGE:
             dn = d + np.random.randn() * Q_sim[0, 0] ** 0.5  # add noise