] * NUMBER_OF_PARTICLES # At the start every particle has its intial coords as 0,0,0
p_y = [estimate_y] * NUMBER_OF_PARTICLES
p_theta = [estimate_theta] * NUMBER_OF_PARTICLES
weights = [
1.0 / NUMBER_OF_PARTICLES
] * NUMBER_OF_PARTICLES # In an actual example these would be updated
mu = 0 # update with actual value
# sigma values for 20cm dist and pi/2 rotations
sigma_e = 0.1
sigma_f = 0.04519
sigma_g = 0.03490
# from particle Data Structures
mymap = world.Map()
particles = world.Particles() # for printing
for i in range(100):
particles.data.append((estimate_x, estimate_y, estimate_theta, weights[0]))
world.init_world(mymap)
# estimate L01 position based on particles
def update_estimate():
global p_x
global p_y
global p_theta
global weights
estimate_x = 0.0
estimate_y = 0.0
estimate_theta = 0.0
def __init__(self):
self.particles = particleDataStructures.Particles()
self.particleSet = self.particles.data
self.mymap = particleDataStructures.mymap