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Replaced sqrt(x**2+y**2) with hypot in SLAM/FastSLAM2/fast_slam1.py

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Guillaume Jacquenot
2019-12-07 22:11:57 +01:00
parent 1d03241d5d
commit f1926bdd9e
1 changed files with 1 additions and 1 deletions
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SLAM/FastSLAM1/fast_slam1.py
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@@ -279,7 +279,7 @@ def observation(xTrue, xd, u, RFID):
dx = RFID[i, 0] - xTrue[0, 0]
dy = RFID[i, 1] - xTrue[1, 0]
d = math.sqrt(dx ** 2 + dy ** 2)
d = math.hypot(dx, dy)
angle = pi_2_pi(math.atan2(dy, dx) - xTrue[2, 0])
if d <= MAX_RANGE:
dn = d + np.random.randn() * Qsim[0, 0] ** 0.5 # add noise