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 --")
