From 9ec9a1feaeac024e5cec021a237658ac4626bb83 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Thu, 22 Mar 2018 14:39:47 -0700
Subject: [PATCH] imporve nomalize weight function

---
 SLAM/FastSLAM1/fast_slam1.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/SLAM/FastSLAM1/fast_slam1.py b/SLAM/FastSLAM1/fast_slam1.py
index 1fb8dac1..bd9da70c 100644
--- a/SLAM/FastSLAM1/fast_slam1.py
+++ b/SLAM/FastSLAM1/fast_slam1.py
@@ -60,15 +60,15 @@ def normalize_weight(particles):
 
     sumw = sum([p.w for p in particles])
 
-    if sumw <= 0.0000001:
+    try:
+        for i in range(N_PARTICLE):
+            particles[i].w /= sumw
+    except ZeroDivisionError:
         for i in range(N_PARTICLE):
             particles[i].w = 1.0 / N_PARTICLE
 
         return particles
 
-    for i in range(N_PARTICLE):
-        particles[i].w /= sumw
-
     return particles