Commit 66aced55 authored by czb5793's avatar czb5793
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parent 3f495e40
......@@ -47,7 +47,7 @@ class SlamEvaluation2:
def __find_distance_by_landmark_id(self, slam_obstacle, obstacles):
"""
Finds the distance of the estimated obstacle to the actual obstacle regarding its identifier
Finds the distance of the estimated obstacle to the actual obstacle regarding its identifiers
:param slam_obstacle: An estimated obstacle position of a SLAM algorithm
:param obstacles: The list of actual obstacles in the map
:return: Distance of estimated obstacle to the actual obstacle
......
......@@ -9,6 +9,7 @@ class Edge:
def __init__(self, id_vertex1, id_vertex2, z, information, list_vertices):
"""
A Edge class. It is a component of a graph
:param id_vertex1: id of previous vertex
:param id_vertex2: id of current vertex
:param z: actual measurement obtained by sensor
......
......@@ -6,12 +6,17 @@ import numpy as np
class Vertex:
def __init__(self, pose, sigma, observation = None):
self.id = -1
"""
A vertex class. It is a component of a graph
:param pose: a vector of pose
:param sigma: a covariance matrix, uncertainty of measurement
:param observation: sensor observation
"""
self.id = -1 # identifier of a vertex
self.pose = np.copy(pose)
self.observation = np.copy(observation)
self.sigma = np.copy(sigma)
self.dim = pose.shape[0] # dimension of the pose vector
self.dim = pose.shape[0] # dimension of the pose vector # vector dimension.
def update_pose(self, pose):
self.pose = pose
......
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