Commit d6d58845 by czb5793

### fix a mistake caused by zip() with parameters of different lengths

parent 5f00b756
 ... ... @@ -10,7 +10,7 @@ from models.Pose import Pose from supervisor.slam.Slam import Slam from utils.math_util import normalize_angle from itertools import cycle class EKFSlam(Slam): ... ... @@ -53,7 +53,7 @@ class EKFSlam(Slam): Returns the estimated landmark positions :return: List of estimated landmark positions """ return [(x, y, id) for (x, y, id) in zip(self.mu[self.robot_state_size::2], self.mu[self.robot_state_size + 1::2], self.landmark_id)] return [(x, y, id) for (x, y, id) in zip(self.mu[self.robot_state_size::2], self.mu[self.robot_state_size + 1::2], cycle(self.landmark_id))] def get_covariances(self): """ ... ...
 ... ... @@ -16,6 +16,7 @@ import numpy as np from models.Pose import Pose from supervisor.slam.Slam import Slam from utils.math_util import normalize_angle from itertools import cycle class Particle: ... ... @@ -80,7 +81,8 @@ class FastSlam(Slam): :return: List of estimated landmark positions """ particle = self.get_best_particle() return [(x, y, id) for (x, y, id) in zip(particle.lm[:, 0], particle.lm[:, 1], particle.id)] landmarks = [(x, y, id) for x, y, id in zip(particle.lm[:, 0], particle.lm[:, 1], cycle(particle.id))] return landmarks def update(self, u, z): """ ... ...
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!