def __init__(self, n_particles, particle_color='b', **kwargs):
"""
:param n_particles: Number of particles to display. This will also dictate
how many particles are expected when providing new particles to update
the plot
:param particle_color: color of particle for plotting. Defaults to blue.
Other keyword arguments are passed to FilterHemispherePlot
"""
FilterHemispherePlot.__init__(self, **kwargs)
self._n_particles = n_particles
self._particle_color = particle_color
self._setup_particles()
self._setup_estimates()
def update(self, particles, weights, *args, **kwargs):
"""
Update the plot given a new set of particles, weights,
and possibly estimates
:param particles: new particle locations. Should be of
size (n_particles x 3)
:param weights: new particle weights. Should be numpy vector of
length 'n_particles'
All other arguments arguments are passed to FilterHemispherePlot.update()
"""
self._update_particle_locs(particles)
self._update_particle_weights(weights)
FilterHemispherePlot.update(self, *args, **kwargs)
