def _getNewPosition(self, start_position):
'''
Implements the _getNewPosition() method of SinglePositionSLAM. Uses Random-Mutation Hill-Climbing
search to look for a better position based on a starting position.
'''
# RMHC search is implemented as a C extension for efficiency
return pybreezyslam.rmhcPositionSearch(start_position, self.map,
self.scan_for_distance,
self.laser, self.sigma_xy_mm,
self.sigma_theta_degrees,
self.max_search_iter,
self.randomizer)
def _getNewPosition(self, start_position):
'''
Implements the _getNewPosition() method of SinglePositionSLAM. Uses Random-Mutation Hill-Climbing
search to look for a better position based on a starting position.
'''
# RMHC search is implemented as a C extension for efficiency
return pybreezyslam.rmhcPositionSearch(
start_position,
self.map,
self.scan_for_distance,
self.laser,
self.sigma_xy_mm,
self.sigma_theta_degrees,
self.max_search_iter,
self.randomizer)