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fix(particlefilter): get_xyt returns (x, y, theta) as documented #752

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Merged
petercorke merged 3 commits into from
Oct 14, 2026
Merged

fix(particlefilter): get_xyt returns (x, y, theta) as documented #752

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03dab5b
fix(particlefilter): get_xyt returns (x, y, theta) as documented
petercorke Oct 13, 2026
cb2811e
docs: the next release is 1.4.5, not 1.5.0
petercorke Oct 13, 2026
6e6b3ea
Merge branch 'main' into fix/particlefilter-get-xyt-heading
petercorke Oct 14, 2026
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7 changes: 6 additions & 1 deletion src/roboticstoolbox/mobile/ParticleFilter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -652,9 +652,14 @@ def get_xyt(self):
:return: vehicle trajectory where each row is configuration :math:`(x, y, \theta)`
:rtype: ndarray(n,3)

.. versionchanged:: 1.4.5
Returns the heading as well as the position, as documented and as
:meth:`EKF.get_xyt` does. Previously the result had only the
:math:`(x, y)` columns, ``xyt[:, :2]`` is that.

:seealso: :meth:`plot_xy` :meth:`run` :meth:`history`
"""
return np.array([h.xest[:2] for h in self._history])
return np.array([h.xest[:3] for h in self._history])

def get_std(self):
r"""
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11 changes: 9 additions & 2 deletions tests/test_vehicle_estimators.py
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Expand Up @@ -456,7 +456,7 @@ def test_no_pause_unless_animating(self) -> None:

def test_converges_to_the_truth(self) -> None:
pf, robot = self.run_filter()
error = np.linalg.norm(pf.get_xyt()[-1] - robot.x[:2])
error = np.linalg.norm(pf.get_xyt()[-1, :2] - robot.x[:2])
self.assertLess(error, 1.0)

def test_uncertainty_shrinks(self) -> None:
Expand All @@ -468,10 +468,17 @@ def test_result_shapes(self) -> None:
pf, robot = self.run_filter(nparticles=100, T=2)
steps = round(2 / robot.dt)
self.assertEqual(pf.get_t().shape, (steps,))
self.assertEqual(pf.get_xyt().shape, (steps, 2))
self.assertEqual(pf.get_xyt().shape, (steps, 3))
self.assertEqual(pf.get_std().shape, (steps, 3))
self.assertEqual(pf.x.shape, (100, 3))

def test_xyt_includes_heading(self) -> None:
pf, _ = self.run_filter(nparticles=100, T=2)
xyt = pf.get_xyt()
# heading is the estimate in the history, within the wrapped range
nt.assert_array_equal(xyt[:, 2], [h.xest[2] for h in pf.history])
self.assertTrue(np.all(np.abs(xyt[:, 2]) <= np.pi + 1e-9))

def test_same_seed_same_estimate(self) -> None:
a, _ = self.run_filter(nparticles=100, T=2, seed=5)
b, _ = self.run_filter(nparticles=100, T=2, seed=5)
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