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add fastslam2 script

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Atsushi Sakai
2018-03-20 22:40:33 -07:00
parent 14ffe6275a
commit d3e0c46d1e
2 changed files with 408 additions and 2 deletions
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4
SLAM/FastSLAM1/fast_slam1.py
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@@ -45,7 +45,7 @@ class Particle:
self.lmP = np.matrix(np.zeros((N_LM * LM_SIZE, LM_SIZE)))
def fast_slam(particles, u, z):
def fast_slam1(particles, u, z):
particles = predict_particles(particles, u)
@@ -370,7 +370,7 @@ def main():
xTrue, z, xDR, ud = observation(xTrue, xDR, u, RFID)
particles = fast_slam(particles, ud, z)
particles = fast_slam1(particles, ud, z)
xEst = calc_final_state(particles)