[PI Sprint 24/25 / PD-456] - [Feature] Implement Localization #34
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FaaizHaikal
requested changes
Jan 11, 2025
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| #ifndef SUIRYOKU__LOCOMOTION__MODEL__FIELD_HPP_ | ||
| #define SUIRYOKU__LOCOMOTION__MODEL__FIELD_HPP_ |
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Where's the copyright? check other files as well.
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| } // namespace suiryoku | ||
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| #endif // SUIRYOKU__LOCOMOTION__MODEL__FIELD_HPP_ |
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Missing EOL. Check other file as well.
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| bool Robot::get_apply_localization() { | ||
| return apply_localization; | ||
| } | ||
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| void Robot::set_apply_localization(bool apply_localization) { | ||
| this->apply_localization = apply_localization; | ||
| } |
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If there's no spesific requirement for the set get, you can expose the apply_localization to public instead.
| p.orientation = orientation; | ||
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| // p.position.x += delta_position.x; | ||
| // p.position.y += delta_position.y; |
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| for (auto & p : particles) { | ||
| sum_weight += p.weight; | ||
| } |
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Optional, but it is better to use constant reference to avoid modification.
mbsaloka
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mbsaloka
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mbsaloka
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mbsaloka
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Jira Link:
https://ichiro-its.atlassian.net/browse/PD-456?atlOrigin=eyJpIjoiYTNmODg5MjBmNGY0NDQ5NWIzOTQwNTVmMGM3YTkwZDAiLCJwIjoiaiJ9
Description
Implementing MCL algorithm in robot class
Type of Change
How Has This Been Tested?
Checklist:
feature/JIRA-ID-SHORT-DESCRIPTIONif has a JIRA ticketenhancement/SHORT-DESCRIPTIONif has/has no JIRA ticket and contain enhancementhotfix/SHORT-DESCRIPTIONif the change doesn't need to be tested (urgent)