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Merge remote-tracking branch 'origin/master'

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# Conflicts:
#	Localization/histogram_filter/histogram_filter.py
This commit is contained in:
Atsushi Sakai
2019-08-03 20:19:55 +09:00
parent ac547941aa b94e13500f
commit 8eca6e12f7
1 changed files with 6 additions and 5 deletions
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11
Localization/histogram_filter/histogram_filter.py
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@@ -20,7 +20,7 @@ from scipy.ndimage import gaussian_filter
from scipy.stats import norm
# Parameters
EXTEND_AREA = 10.0 # [m] grid map extention length
EXTEND_AREA = 10.0 # [m] grid map extended length
SIM_TIME = 50.0 # simulation time [s]
DT = 0.1 # time tick [s]
MAX_RANGE = 10.0 # maximum observation range
@@ -34,7 +34,7 @@ MINY = -5.0
MAXX = 15.0
MAXY = 25.0
# simulation paramters
# simulation parameters
NOISE_RANGE = 2.0 # [m] 1σ range noise parameter
NOISE_SPEED = 0.5 # [m/s] 1σ speed noise parameter
@@ -42,11 +42,11 @@ NOISE_SPEED = 0.5 # [m/s] 1σ speed noise parameter
show_animation = True
class GridMap:
class grid_map():
def __init__(self):
self.data = None
self.xy_reso = None
self.xyreso = None
self.minx = None
self.miny = None
self.maxx = None
@@ -158,7 +158,8 @@ def normalize_probability(gmap):
def init_gmap(xyreso, minx, miny, maxx, maxy):
gmap = GridMap()
gmap = grid_map()
gmap.xy_reso = xyreso
gmap.minx = minx