From f1926bdd9e08733f7dce997fab3f0e6f4e97476f Mon Sep 17 00:00:00 2001
From: Guillaume Jacquenot <guillaume.jacquenot@gmail.com>
Date: Sat, 7 Dec 2019 22:11:57 +0100
Subject: [PATCH] Replaced sqrt(x**2+y**2) with hypot in
 SLAM/FastSLAM2/fast_slam1.py

---
 SLAM/FastSLAM1/fast_slam1.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/SLAM/FastSLAM1/fast_slam1.py b/SLAM/FastSLAM1/fast_slam1.py
index c16407e8..298cc036 100644
--- a/SLAM/FastSLAM1/fast_slam1.py
+++ b/SLAM/FastSLAM1/fast_slam1.py
@@ -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