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Cleaned up

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Matt Lubas
2016-08-15 15:44:49 -04:00
parent 802aaabf5d
commit 41017d00b7
1 changed files with 20 additions and 21 deletions
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README.md
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@@ -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.
</p><p>
<tt>
&nbsp; &nbsp; from breezyslam.algorithms import RMHC_SLAM
</tt></p><p><tt>
&nbsp; &nbsp; lidar = MyLidarModel()
</tt></p><p><tt>
&nbsp; &nbsp; mapbytes = bytearray(800*800)
</tt></p><p><tt>
&nbsp; &nbsp; slam = <b>RMHC_SLAM</b>(lidar, 800, 35)
</tt></p><p><tt>
&nbsp; &nbsp; while True:
</tt></p><p><tt>
&nbsp; &nbsp; &nbsp; &nbsp; scan = readLidar()
</tt></p><p><tt>
&nbsp; &nbsp; &nbsp; &nbsp; slam.<b>update</b>(scan)
</tt></p><p><tt>
&nbsp; &nbsp; &nbsp; &nbsp; x, y, theta = slam.<b>getpos</b>(scan)
</tt></p><p><tt>
&nbsp; &nbsp; &nbsp; &nbsp; slam.<b>getmap</b>(mapbytes)
</tt>
</p><p>
<pre>
from breezyslam.algorithms import RMHC\_SLAM
lidar = MyLidarModel()
mapbytes = bytearray(800*800)
slam = <b>RMHC_SLAM</b>(lidar, 800, 35)
while True:
scan = readLidar()
slam.update(scan)
x, y, theta = slam.<b>getpos</b>(scan)
slam.getmap(mapbytes)
</pre>
If odometry is available, it can also be passed into the update method.