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Minor formatting issues #832

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Merged
antmarakis merged 1 commit into from
Mar 9, 2018
Merged

Minor formatting issues #832

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2 changes: 1 addition & 1 deletion planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -524,7 +524,7 @@ def goal_test(kb, goals):
if solution:
return solution
graphplan.graph.expand_graph()
if len(graphplan.graph.levels)>=2 and graphplan.check_leveloff():
if len(graphplan.graph.levels) >=2 and graphplan.check_leveloff():
return None


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3 changes: 2 additions & 1 deletion probability.py
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Expand Up @@ -653,6 +653,7 @@ def particle_filtering(e, N, HMM):
# _________________________________________________________________________
## TODO: Implement continuous map for MonteCarlo similar to Fig25.10 from the book


class MCLmap:
"""Map which provides probability distributions and sensor readings.
Consists of discrete cells which are either an obstacle or empty"""
Expand All @@ -679,7 +680,7 @@ def ray_cast(self, sensor_num, kin_state):
# 0
# 3R1
# 2
delta = ((sensor_num%2 == 0)*(sensor_num - 1), (sensor_num%2 == 1)*(2 - sensor_num))
delta = ((sensor_num % 2 == 0)*(sensor_num - 1), (sensor_num % 2 == 1)*(2 - sensor_num))
# sensor direction changes based on orientation
for _ in range(orient):
delta = (delta[1], -delta[0])
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