def uncertainTurn(alpha): # in degrees
global particles
alpha = alpha % 360
if alpha <= 180:
rm.turn_left(interface, motors, alpha)
else:
rm.turn_right(interface, motors, 360 - alpha)
sigma_g = np.sqrt(alpha) * stdev_g
new_particles = []
for p in particles:
g = random.gauss(0, sigma_g)
new_particles.append((p[0], p[1], p[2] + alpha + g, p[3]))
particles = new_particles
def uncertainTurn(alpha): # in degrees
global particles
alpha = alpha % 360
if alpha <= 180:
rm.turn_left(interface, motors, alpha)
else:
rm.turn_right(interface, motors, 360 - alpha)
sigma_g = np.sqrt(alpha) * stdev_g
new_particles = []
for p in particles.data:
g = random.gauss(0, sigma_g)
new_particles.append((p[0], p[1], p[2] + alpha + g, p[3]))
particles.data = new_particles
sonar_reading = sonar_measurement()
particles.update(sonar_reading)
particles.draw()
