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Corrected param name velocities => poseChange

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simondlevy
2018-07-04 14:05:03 -04:00
parent 1c8ec22b99
commit 2811620c6d
1 changed files with 5 additions and 5 deletions
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10
python/breezyslam/algorithms.py
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@@ -98,7 +98,7 @@ class CoreSLAM(object):
should_update_map flags for whether you want to update the map should_update_map flags for whether you want to update the map
''' '''
# Convert (dxy,dtheta,dt) to (dxy/dt, dtheta/dt) for scan update # Convert pose change (dxy,dtheta,dt) to velocities (dxy/dt, dtheta/dt) for scan update
velocity_factor = (1 / poseChange[2]) if (poseChange[2] > 0) else 0 # units => units/sec velocity_factor = (1 / poseChange[2]) if (poseChange[2] > 0) else 0 # units => units/sec
dxy_mm_dt = poseChange[0] * velocity_factor dxy_mm_dt = poseChange[0] * velocity_factor
dtheta_degrees_dt = poseChange[1] * velocity_factor dtheta_degrees_dt = poseChange[1] * velocity_factor
@@ -251,13 +251,13 @@ class RMHC_SLAM(SinglePositionSLAM):
self.sigma_theta_degrees = sigma_theta_degrees self.sigma_theta_degrees = sigma_theta_degrees
self.max_search_iter = max_search_iter self.max_search_iter = max_search_iter
def update(self, scan_mm, velocities=None, should_update_map=True): def update(self, scan_mm, angles_degrees=None, poseChange=None, should_update_map=True):
if not velocities: if not poseChange:
velocities = (0, 0, 0) poseChange = (0, 0, 0)
CoreSLAM.update(self, scan_mm, velocities, should_update_map) CoreSLAM.update(self, scan_mm, poseChange, should_update_map)
def _getNewPosition(self, start_position): def _getNewPosition(self, start_position):
''' '''