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imporve nomalize weight function

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Atsushi Sakai
2018-03-22 14:39:47 -07:00
parent 119400e035
commit 9ec9a1feae
1 changed files with 4 additions and 4 deletions
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8
SLAM/FastSLAM1/fast_slam1.py
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@@ -60,15 +60,15 @@ def normalize_weight(particles):
sumw = sum([p.w for p in 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): for i in range(N_PARTICLE):
particles[i].w = 1.0 / N_PARTICLE particles[i].w = 1.0 / N_PARTICLE
return particles return particles
for i in range(N_PARTICLE):
particles[i].w /= sumw
return particles return particles