northern-bites/nbites — pull request #351 by eratner (2012-06-20 13:54:52+00:00)
Title: Localization Resetting on Return from Penalty

This pull request resets localization at least 5 seconds after having been in penalized state, and returning to game playing. We added a parameter struct to parameterize the uncertainty in the particle clusters that are reset about a mean--currently the uncertainty is set to +/- 15.0 cm in x and y and +/- 1.0 radians in the heading. These thresholds can be altered, but in my own testing, seem to be appropriate.