From 1fb016230586a8392809ecceef824899d539cb46 Mon Sep 17 00:00:00 2001 From: simondlevy Date: Wed, 4 Jul 2018 20:46:18 -0400 Subject: [PATCH] Cleanup --- examples/rpslam.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/rpslam.py b/examples/rpslam.py index f08631c..5c5498e 100755 --- a/examples/rpslam.py +++ b/examples/rpslam.py @@ -28,7 +28,6 @@ from breezyslam.algorithms import RMHC_SLAM from breezyslam.sensors import RPLidarA1 as LaserModel from rplidar import RPLidar as Lidar from pltslamshow import SlamShow -from logging import Logger if __name__ == '__main__': @@ -50,6 +49,7 @@ if __name__ == '__main__': # Create an iterator to collect scan data from the RPLidar iterator = lidar.iter_scans() + # We will use these to store previous scan in case current scan is inadequate previous_distances = None previous_angles = None @@ -65,13 +65,13 @@ if __name__ == '__main__': distances = [item[2] for item in items] angles = [item[1] for item in items] - # Update SLAM with current Lidar scan and scan angles if sufficient + # Update SLAM with current Lidar scan and scan angles if adequate if len(distances) > MIN_SAMPLES: slam.update(distances, scan_angles_degrees=angles) previous_distances = distances.copy() previous_angles = angles.copy() - # If not sufficient, use previous + # If not adequate, use previous elif previous_distances is not None: slam.update(previous_distances, scan_angles_degrees=previous_angles)