2025-summer/team-3
12
Fork 0
Code Issues Pull requests Projects Releases Activity

fix locator least square matching

Browse source
This commit is contained in:
Laura Klünder 2024-12-27 14:43:21 +01:00
parent 06589d10c9
commit 3eb1ebbe77
1 changed files with 2 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/c3nav/routing/locator.py
View file

@ -242,8 +242,6 @@ class Locator:
return norm return norm
def locate_range(self, scan_data: ScanData, permissions=None, orig_addr=None): def locate_range(self, scan_data: ScanData, permissions=None, orig_addr=None):
pprint(scan_data)
peer_ids = tuple(i for i in scan_data if i < len(self.xyz)) peer_ids = tuple(i for i in scan_data if i < len(self.xyz))
if len(peer_ids) < 3: if len(peer_ids) < 3:
@ -296,8 +294,8 @@ class Locator:
# jac="3-point", # jac="3-point",
loss="linear", loss="linear",
bounds=( bounds=(
np.min(self.beacon_positions[:, :dimensions], axis=0) - np.array([200, 200, 100])[:dimensions], np.min(self.xyz[:, :dimensions], axis=0) - np.array([200, 200, 100])[:dimensions],
np.max(self.beacon_positions[:, :dimensions], axis=0) + np.array([200, 200, 100])[:dimensions], np.max(self.xyz[:, :dimensions], axis=0) + np.array([200, 200, 100])[:dimensions],
), ),
x0=initial_guess, x0=initial_guess,
) )