search

or-tal-robotics / mcl_pi_gazebo

Multirobot cooperative localization using the Particles Intersection algorithm
http://wiki.ros.org/mcl_pi
GNU General Public License v3.0
10 stars 7 forks source link

What does the symbol d mean #6

Open God-Ray opened 2 years ago

God-Ray commented 2 years ago 
Hello, very glad to read your wonderful project mcl_pi_gazebo. And Im confused that  what does the symbol d and PF_l  PF_t   mean in MCL_PI.py?
ortslil64 commented 2 years ago

Mcl = Monte Carlo localization PI = particles Intersection PF = particle filter

On Fri, 17 Dec 2021, 10:26 LRRRR, @.***> wrote:

Hello, very glad to read your wonderful project mcl_pi_gazebo. And Im confused that what does the symbol d and PF_l PF_t mean in MCL_PI.py?

— Reply to this email directly, view it on GitHub https://github.com/or-tal-robotics/mcl_pi_gazebo/issues/6, or unsubscribe https://github.com/notifications/unsubscribe-auth/ADHF6LLFSFOLU6472SSK6MDURLX3HANCNFSM5KIIGYXA . Triage notifications on the go with GitHub Mobile for iOS https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675 or Android https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub.

You are receiving this because you are subscribed to this thread.Message ID: @.***>

God-Ray commented 2 years ago

Thank you for your reply! While I mean what do these symbols stand for in the MCL_PI.py codes. image

if recive_particles: print "recived particles!" fusion.PI_t = particles d = np.linalg.norm(np.mean(particles[:,0:2],axis=0) - fusion.mu_t_hat) print "d= ", d if d < 0.7: PF_l.weights = fusion.update_weight() PF_l.resampling() recive_particles = 0

When I run the mcl_pi_move_base.launch, I see the d values "d=~~~~“ in the terminal. There are few annotations in the codes, it is hard for me to understand the codes. Hope for your reply, thank you very much!!!