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markmellors / robostats_mcl

Python implementation of Monte Carlo Localization (Particle Filter)
MIT License
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heading constrained to odometry pose. working #13

Closed markmellors closed 4 years ago

markmellors commented 4 years ago

includes a little refactoring to avoid extracting the pose from the msg twice. Currently defaults (on lack of odometry data) to constraining to heading 0, but maybe it should default to random or unconstrained? seems to work fine