From 652c32fba9eadfeb1e2200b2f7e475de1acfc5bb Mon Sep 17 00:00:00 2001
From: Guillaume Jacquenot <guillaume.jacquenot@gmail.com>
Date: Sat, 7 Dec 2019 22:10:53 +0100
Subject: [PATCH] Replaced sqrt(x**2+y**2) with hypot in
 SLAM/GraphBasedSLAM/graph_based_slam.py

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

diff --git a/SLAM/GraphBasedSLAM/graph_based_slam.py b/SLAM/GraphBasedSLAM/graph_based_slam.py
index b40ad649..41b9d525 100644
--- a/SLAM/GraphBasedSLAM/graph_based_slam.py
+++ b/SLAM/GraphBasedSLAM/graph_based_slam.py
@@ -216,7 +216,7 @@ 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]
         phi = pi_2_pi(math.atan2(dy, dx))
         if d <= MAX_RANGE: