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Undo concatenate experiment

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Danny Staple
2023-01-29 13:43:02 +00:00
parent 416bb52ebf
commit d1d13fc618
1 changed files with 4 additions and 5 deletions
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ch-13/4.3-monte-carlo_perf/robot/code.py
+4 -5
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@@ -183,14 +183,13 @@ class Simulation:
right_hypotenuse = np.sqrt(opposite**2 + adjacent**2)
# modify the current weights based on the distance sensors
# left_sensor = np.zeros((self.poses.shape[0], 2), dtype=np.float)
left_sensor = np.zeros((self.poses.shape[0], 2), dtype=np.float)
right_sensor = np.zeros((self.poses.shape[0], 2), dtype=np.float)
# left sensor
poses_left_angle = np.radians(self.poses[:, 2]) + left_angle
left_sensor = np.concatenate([
self.poses[:, 0] + np.cos(poses_left_angle) * left_hypotenuse,
self.poses[:, 1] + np.sin(poses_left_angle) * left_hypotenuse
], axis=1)
left_sensor[:, 0] = self.poses[:, 0] + np.cos(poses_left_angle) * left_hypotenuse
left_sensor[:, 1] = self.poses[:, 1] + np.sin(poses_left_angle) * left_hypotenuse
# right sensor
poses_right_angle = np.radians(self.poses[:, 2]) - right_angle