ecki/Robotics-at-Home-with-Raspberry-Pi-Pico
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Simplify code wording

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This commit is contained in:
Danny Staple
2023-01-21 20:00:43 +00:00
parent 2b720cedca
commit 7b894dd5a8
3 changed files with 6 additions and 6 deletions
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ch-13/3.4-movement-uncertainty/robot/code.py
+2 -2
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@@ -115,7 +115,7 @@ class Simulation:
self.poses[:,2] += rot2 self.poses[:,2] += rot2
self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]]) self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
def apply_randomness_to_motion(self, rot1, trans, rot2): def randomise_motion(self, rot1, trans, rot2):
rot1_scale = self.alpha_rot * abs(rot1) + self.alpha_rot_trans * abs(trans) rot1_scale = self.alpha_rot * abs(rot1) + self.alpha_rot_trans * abs(trans)
trans_scale = self.alpha_trans * abs(trans) + self.alpha_trans_rot * (abs(rot1) + abs(rot2)) trans_scale = self.alpha_trans * abs(trans) + self.alpha_trans_rot * (abs(rot1) + abs(rot2))
rot2_scale = self.alpha_rot * abs(rot2) + self.alpha_rot_trans * abs(trans) rot2_scale = self.alpha_rot * abs(rot2) + self.alpha_rot_trans * abs(trans)
@@ -135,7 +135,7 @@ class Simulation:
self.last_encoder_left = new_encoder_left self.last_encoder_left = new_encoder_left
self.last_encoder_right = new_encoder_right self.last_encoder_right = new_encoder_right
rot1_model, trans_model, rot2_model = self.apply_randomness_to_motion(rot1, trans, rot2) rot1_model, trans_model, rot2_model = self.randomise_motion(rot1, trans, rot2)
self.apply_motion_to_poses(rot1_model, trans_model, rot2_model) self.apply_motion_to_poses(rot1_model, trans_model, rot2_model)
print( print(
ch-13/4.1-generating-weights/robot/code.py
+2 -2
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@@ -133,7 +133,7 @@ class Simulation:
self.poses[:,2] += rot2 self.poses[:,2] += rot2
self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]]) self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
def apply_randomness_to_motion(self, rot1, trans, rot2): def randomise_motion(self, rot1, trans, rot2):
rot1_scale = self.alpha_rot * abs(rot1) + self.alpha_rot_trans * abs(trans) rot1_scale = self.alpha_rot * abs(rot1) + self.alpha_rot_trans * abs(trans)
trans_scale = self.alpha_trans * abs(trans) + self.alpha_trans_rot * (abs(rot1) + abs(rot2)) trans_scale = self.alpha_trans * abs(trans) + self.alpha_trans_rot * (abs(rot1) + abs(rot2))
rot2_scale = self.alpha_rot * abs(rot2) + self.alpha_rot_trans * abs(trans) rot2_scale = self.alpha_rot * abs(rot2) + self.alpha_rot_trans * abs(trans)
@@ -153,7 +153,7 @@ class Simulation:
self.last_encoder_left = new_encoder_left self.last_encoder_left = new_encoder_left
self.last_encoder_right = new_encoder_right self.last_encoder_right = new_encoder_right
rot1_model, trans_model, rot2_model = self.apply_randomness_to_motion(rot1, trans, rot2) rot1_model, trans_model, rot2_model = self.randomise_motion(rot1, trans, rot2)
self.apply_motion_to_poses(rot1_model, trans_model, rot2_model) self.apply_motion_to_poses(rot1_model, trans_model, rot2_model)
print( print(
ch-13/4.3-monte-carlo/robot/code.py
+2 -2
View File
@@ -133,7 +133,7 @@ class Simulation:
self.poses[:,2] += rot2 self.poses[:,2] += rot2
self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]]) self.poses[:,2] = np.array([float(theta % 360) for theta in self.poses[:,2]])
def apply_randomness_to_motion(self, rot1, trans, rot2): def randomise_motion(self, rot1, trans, rot2):
rot1_scale = self.alpha_rot * abs(rot1) + self.alpha_rot_trans * abs(trans) rot1_scale = self.alpha_rot * abs(rot1) + self.alpha_rot_trans * abs(trans)
trans_scale = self.alpha_trans * abs(trans) + self.alpha_trans_rot * (abs(rot1) + abs(rot2)) trans_scale = self.alpha_trans * abs(trans) + self.alpha_trans_rot * (abs(rot1) + abs(rot2))
rot2_scale = self.alpha_rot * abs(rot2) + self.alpha_rot_trans * abs(trans) rot2_scale = self.alpha_rot * abs(rot2) + self.alpha_rot_trans * abs(trans)
@@ -153,7 +153,7 @@ class Simulation:
self.last_encoder_left = new_encoder_left self.last_encoder_left = new_encoder_left
self.last_encoder_right = new_encoder_right self.last_encoder_right = new_encoder_right
rot1_model, trans_model, rot2_model = self.apply_randomness_to_motion(rot1, trans, rot2) rot1_model, trans_model, rot2_model = self.randomise_motion(rot1, trans, rot2)
self.apply_motion_to_poses(rot1_model, trans_model, rot2_model) self.apply_motion_to_poses(rot1_model, trans_model, rot2_model)
print( print(