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Update the pi_2_pi function to a use of a modulo instead of two while.

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Alexis Paques
2018-07-10 09:22:18 +02:00
parent 39aa4f5a6a
commit b243750a13
17 changed files with 19 additions and 117 deletions
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8
SLAM/EKFSLAM/ekf_slam.py
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@@ -203,13 +203,7 @@ def jacobH(q, delta, x, i):
def pi_2_pi(angle):
while(angle > math.pi):
angle = angle - 2.0 * math.pi
while(angle < -math.pi):
angle = angle + 2.0 * math.pi
return angle
return (angle + math.pi) % (2*math.pi) - math.pi
def main():

8
SLAM/FastSLAM1/fast_slam1.py
View File

@@ -325,13 +325,7 @@ def motion_model(x, u):
def pi_2_pi(angle):
while(angle > math.pi):
angle = angle - 2.0 * math.pi
while(angle < -math.pi):
angle = angle + 2.0 * math.pi
return angle
return (angle + math.pi) % (2*math.pi) - math.pi
def main():

8
SLAM/FastSLAM2/fast_slam2.py
View File

@@ -354,13 +354,7 @@ def motion_model(x, u):
def pi_2_pi(angle):
while(angle > math.pi):
angle = angle - 2.0 * math.pi
while(angle < -math.pi):
angle = angle + 2.0 * math.pi
return angle
return (angle + math.pi) % (2*math.pi) - math.pi
def main():

8
SLAM/GraphBasedSLAM/graph_based_slam.py
View File

@@ -253,13 +253,7 @@ def motion_model(x, u):
def pi_2_pi(angle):
while(angle > math.pi):
angle = angle - 2.0 * math.pi
while(angle < -math.pi):
angle = angle + 2.0 * math.pi
return angle
return (angle + math.pi) % (2*math.pi) - math.pi
def main():