add localizer update

ShisatoYano · Nov 2, 2023 · 9531567 · 9531567
1 parent 8cd4f0e
commit 9531567
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/src/components/localization/kalman_filter/extended_kalman_filter_localizer.py b/src/components/localization/kalman_filter/extended_kalman_filter_localizer.py
@@ -26,4 +26,4 @@ def __init__(self, state, color='r'):
         self.DRAW_COLOR = color
 
     def update(self, accel_mps2, yaw_rate_rps, time_s, gnss):
-        pass
+        print(gnss)
diff --git a/src/components/vehicle/four_wheels_vehicle.py b/src/components/vehicle/four_wheels_vehicle.py
@@ -138,7 +138,8 @@ def update(self, time_s):
         target_accel, target_yaw_rate = self._update_control_data()
 
         if self.localizer:
-            pass
+            self.localizer.update(target_accel, target_yaw_rate, time_s,
+                                  self.sensors.get_xy_pos_from_gnss())
         else:
             self.state.update(target_accel, target_yaw_rate, time_s)