import math

1つの車輪の距離計算を行う関数

def calculate_distance_per_wheel(wheel_diameter, rotations): wheel_circumference = wheel_diameter * 3.14159 distance = wheel_circumference * rotations return distance

自己位置を推定する関数

def estimate_position(previous_position, wheel_diameter, wheel_base, left_wheel_rotations, right_wheel_rotations): left_distance = calculate_distance_per_wheel(wheel_diameter, left_wheel_rotations) right_distance = calculate_distance_per_wheel(wheel_diameter, right_wheel_rotations)

distance_moved = (left_distance + right_distance) / 2
angle_turned = (right_distance - left_distance) / wheel_base

new_x = previous_position[0] + distance_moved * math.cos(previous_position[2] + angle_turned / 2)
new_y = previous_position[1] + distance_moved * math.sin(previous_position[2] + angle_turned / 2)
new_theta = previous_position[2] + angle_turned

return new_x, new_y, new_theta

初期位置と車輪ベースの設定

initial_position = (0, 0, 0) # (x, y, 角度) wheel_base = 20 # 車輪ベース（仮の値）

左右車輪の回転数

left_rotations = 100 right_rotations = 110

新しい自己位置を推定

new_position = estimate_position(initial_position, wheel_diameter, wheel_base, left_rotations, right_rotations)

結果を表示

print("推定自己位置:", new_position)

import math

# 1つの車輪の距離計算を行う関数
def calculate_distance_per_wheel(wheel_diameter, rotations):
    wheel_circumference = wheel_diameter * 3.14159
    distance = wheel_circumference * rotations
    return distance

# 自己位置を推定する関数
def estimate_position(previous_position, wheel_diameter, wheel_base, left_wheel_rotations, right_wheel_rotations):
    left_distance = calculate_distance_per_wheel(wheel_diameter, left_wheel_rotations)
    right_distance = calculate_distance_per_wheel(wheel_diameter, right_wheel_rotations)
    
    distance_moved = (left_distance + right_distance) / 2
    angle_turned = (right_distance - left_distance) / wheel_base

    new_x = previous_position[0] + distance_moved * math.cos(previous_position[2] + angle_turned / 2)
    new_y = previous_position[1] + distance_moved * math.sin(previous_position[2] + angle_turned / 2)
    new_theta = previous_position[2] + angle_turned

    return new_x, new_y, new_theta

# 初期位置と車輪ベースの設定
initial_position = (0, 0, 0)  # (x, y, 角度)
wheel_base = 20  # 車輪ベース（仮の値）

# 左右車輪の回転数
left_rotations = 100
right_rotations = 110

# 新しい自己位置を推定
new_position = estimate_position(initial_position, wheel_diameter, wheel_base, left_rotations, right_rotations)

# 結果を表示
print("推定自己位置:", new_position)

#include <stdio.h>
#include <math.h>

// 1つの車輪の距離計算を行う関数
double calculate_distance_per_wheel(double wheel_diameter, double rotations) {
    double wheel_circumference = wheel_diameter * 3.14159;
    double distance = wheel_circumference * rotations;
    return distance;
}

// 自己位置を推定する関数
void estimate_position(double previous_position[3], double wheel_diameter, double wheel_base, double left_wheel_rotations, double right_wheel_rotations, double new_position[3]) {
    double left_distance = calculate_distance_per_wheel(wheel_diameter, left_wheel_rotations);
    double right_distance = calculate_distance_per_wheel(wheel_diameter, right_wheel_rotations);
    
    double distance_moved = (left_distance + right_distance) / 2;
    double angle_turned = (right_distance - left_distance) / wheel_base;

    new_position[0] = previous_position[0] + distance_moved * cos(previous_position[2] + angle_turned / 2);
    new_position[1] = previous_position[1] + distance_moved * sin(previous_position[2] + angle_turned / 2);
    new_position[2] = previous_position[2] + angle_turned;
}

int main() {
    double initial_position[3] = {0, 0, 0};  // (x, y, 角度)
    double wheel_base = 20;  // 車輪ベース（仮の値）

    double left_rotations = 100;
    double right_rotations = 110;

    double new_position[3];

    // 新しい自己位置を推定
    estimate_position(initial_position, wheel_diameter, wheel_base, left_rotations, right_rotations, new_position);

    // 結果を表示
    printf("推定自己位置: (%lf, %lf, %lf)\\n", new_position[0], new_position[1], new_position[2]);

    return 0;
}