def move(self, dy, dx): new_y = (self.true_pose[0] + dy) % self.height new_x = (self.true_pose[1] + dx) % self.width self.prev_pose = self.true_pose self.true_pose = (new_y, new_x) beliefs = deepcopy(self.beliefs) new_beliefs = localizer.move(dy, dx, beliefs, self.blur) self.beliefs = new_beliefs
def move(self, dy, dx): #get the new position new_y = (self.true_pose[0] + dy) % self.height new_x = (self.true_pose[1] + dx) % self.width #back up self.prev_pose = self.true_pose self.true_pose = (new_y, new_x) beliefs = deepcopy(self.beliefs) #move and update the beliefs new_beliefs = localizer.move(dy, dx, beliefs, self.blur) self.beliefs = new_beliefs
def move(self, dy, dx): print("move ++ (dy= " + str(dy) + ",dx= " + str(dx) + ")") print("prev_pose (y {},x {})".format(self.true_pose[0], self.true_pose[1])) new_y = (self.true_pose[0] + dy) % self.height new_x = (self.true_pose[1] + dx) % self.width self.prev_pose = self.true_pose self.true_pose = (new_y, new_x) print("prev_pose (new_y {},new_x {})".format(self.true_pose[0], self.true_pose[1])) beliefs = deepcopy(self.beliefs) new_beliefs = localizer.move(dy, dx, beliefs, self.blur) self.beliefs = new_beliefs print("beliefs updated: ") print2d_list(self.beliefs) print("move --")