ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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This rename makes the code easier to type and read.

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Danny Staple
2023-01-21 19:54:31 +00:00
parent 2d785f90ec
commit 2b720cedca
4 changed files with 15 additions and 15 deletions
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ch-13/3.4-movement-uncertainty/banana_shaped.py
+3 -3
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@@ -18,14 +18,14 @@ motion_line = np.array([[250, 300],
[motion_scale * np.cos(np.radians(motion_angle)), motion_scale * np.sin(np.radians(motion_angle))]])
def get_scaled_sample_around_mean(mean, scale):
def get_random_sample(mean, scale):
return mean + (random.uniform(-scale, scale) + random.uniform(-scale, scale)) / 2
rotation_scale = 0.05 * abs(motion_angle) + 0.01 * abs(motion_scale)
translation_scale = 0.05 * abs(motion_scale) + 0.01 * abs(motion_angle)
motion_rotation = np.array([get_scaled_sample_around_mean(motion_angle, rotation_scale) for _ in range(poses.shape[0])])
motion_translation = np.array([get_scaled_sample_around_mean(motion_scale, translation_scale) for _ in range(poses.shape[0])])
motion_rotation = np.array([get_random_sample(motion_angle, rotation_scale) for _ in range(poses.shape[0])])
motion_translation = np.array([get_random_sample(motion_scale, translation_scale) for _ in range(poses.shape[0])])
new_poses = np.zeros_like(poses)
new_poses[:, 0] = poses[:, 0] + motion_translation * np.cos(np.radians(motion_rotation))