From 41017d00b7db3959f7018e14d6444be91f6f2180 Mon Sep 17 00:00:00 2001 From: Matt Lubas Date: Mon, 15 Aug 2016 15:44:49 -0400 Subject: [PATCH] Cleaned up --- README.md | 41 ++++++++++++++++++++--------------------- 1 file changed, 20 insertions(+), 21 deletions(-) diff --git a/README.md b/README.md index 5f4325a..fd683c9 100644 --- a/README.md +++ b/README.md @@ -28,27 +28,26 @@ the map (pixels) and mapping area (meters); a method for updating with the curre the current robot position; and a method for retrieving the current map as a byte array. -

- -    from breezyslam.algorithms import RMHC_SLAM -

-    lidar = MyLidarModel() -

-    mapbytes = bytearray(800*800) -

-    slam = RMHC_SLAM(lidar, 800, 35) -

-    while True: -

-        scan = readLidar() -

-        slam.update(scan) -

-        x, y, theta = slam.getpos(scan) -

-        slam.getmap(mapbytes) - -

+

+from breezyslam.algorithms import RMHC\_SLAM
+
+lidar = MyLidarModel()
+
+mapbytes = bytearray(800*800)
+
+slam = RMHC_SLAM(lidar, 800, 35) 
+
+while True:
+
+    scan = readLidar()
+
+    slam.update(scan)
+
+    x, y, theta = slam.getpos(scan)
+
+    slam.getmap(mapbytes)
+
+ If odometry is available, it can also be passed into the update method.