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MotionModel.py
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MotionModel.py
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import sys
import numpy as np
import math
class MotionModel:
"""
References: Thrun, Sebastian, Wolfram Burgard, and Dieter Fox. Probabilistic robotics. MIT press, 2005.
[Chapter 5]
"""
def __init__(self):
"""
TODO : Initialize Motion Model parameters here
"""
def update(self, u_t0, u_t1, x_t0):
"""
param[in] u_t0 : particle state odometry reading [x, y, theta] at time (t-1) [odometry_frame]
param[in] u_t1 : particle state odometry reading [x, y, theta] at time t [odometry_frame]
param[in] x_t0 : particle state belief [x, y, theta] at time (t-1) [world_frame]
param[out] x_t1 : particle state belief [x, y, theta] at time t [world_frame]
"""
"""
TODO : Add your code here
"""
return x_t1
if __name__=="__main__":
pass