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fix(particlefilter): get_xyt returns (x, y, theta) as documented - #752
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The docstring and the name say (x, y, theta), as does EKF.get_xyt(), but the result had only the (x, y) columns. plot_xy() is the only caller in the toolbox and uses the first two. xyt[:, :2] is the previous result. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
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## main #752 +/- ##
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Files 143 143
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ParticleFilter.get_xyt()is documented as returning(x, y, theta)per row (ndarray(n,3)), as isEKF.get_xyt(), but returned only(x, y). It now returns the heading too. The previous result isxyt[:, :2]; aversionchanged:: 1.4.5note says so.The only caller in the toolbox is
plot_xy(), which uses the first two columns.RVC3-pythondoes not callget_xyt()on a particle filter (it usesget_std()).The heading is the mean of the particle headings, which is a plain mean of wrapped angles; #735 replaces that with a circular mean, so the heading column is only trustworthy once #735 is merged.
Stacked on #747. Base this PR on
mainonce #747 has merged.🤖 Generated with Claude Code