pydistsim.utils.localization.helpers.construct_G

construct_G(pos, edges, u, sensor)

Construct Jacobian of vector mu(pos) that defines expectation of measurement given positions.

u - number of unknowns i.e. 3 - (x, y, theta) edges - list of edges as tuples, if there is (i, j) then there should not

be (j, i)

sensor - ‘DistSensor’ or ‘AoASensor’

For AoA and measurement between nodes i and j: mu(pos) = arctan((pos_y_j - pos_y_i)/(pos_x_j - pos_x_i) - alpha_i)