def transition_model(self, prev_state, observed):
#get values from previous state
prev_angle=math.radians(prev_state.theta)
prev_x=prev_state.x
prev_y=prev_state.y
#compute new values
cos_angle=math.cos(prev_angle)
sin_angle=-math.sin(prev_angle)
diff=observed.disp+gaussian.main(0,.25)
x_i=prev_x+(diff*cos_angle)
y_i=prev_y+(diff*sin_angle)
observed_angle=(math.radians(observed.rot)+gaussian.main(0,.01))
angle_i=self.angular_summation(prev_angle, math.degrees(observed_angle))
#print x_i,y_i,angle_i
return state.State(x_i,y_i,angle_i)
import gaussian gaussian.main()
