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Remember to eliminate points outside the arena

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Danny Staple 2022-12-06 08:48:07 +00:00
parent 543f4f3f0b
commit 9b98bd4db7
1 changed files with 4 additions and 1 deletions
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5
ch-13/full-version/robot/code.py
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@ -65,7 +65,9 @@ class Simulation:
for index, sensor_position in enumerate(distance_sensor_positions): for index, sensor_position in enumerate(distance_sensor_positions):
# difference between this distance and the distance sensed is the error # difference between this distance and the distance sensed is the error
# add noise to this error # add noise to this error
if not arena.point_is_inside_arena(self.poses[index,0], self.poses[index,1]):
weights[index] = 0
continue
# left sensor # left sensor
left_ray = sensor_position[0], sensor_position[1], self.poses[index, 2] left_ray = sensor_position[0], sensor_position[1], self.poses[index, 2]
noise = get_gaussian_sample(0, distance_sensor_standard_dev) noise = get_gaussian_sample(0, distance_sensor_standard_dev)
@ -78,6 +80,7 @@ class Simulation:
right_error = abs(right_actual - dr_squared) #error right_error = abs(right_actual - dr_squared) #error
# weight is the inverse of the error # weight is the inverse of the error
weights[index] = 1 / (left_error + right_error) weights[index] = 1 / (left_error + right_error)
#normalise the weights #normalise the weights
weights = weights / np.sum(weights) weights = weights / np.sum(weights)
return weights return weights