Merge pull request #22 from nicolasperez19/localization-grid-offset

feat: Offset the center of the grid by the radius of the robot and extended max radius of grid

packages/passive_sound_localization/passive_sound_localization/localization.py

@@ -180,11 +180,11 @@ def _compute_cross_spectrum(self, mic_signals:np.ndarray[np.float32], fft_size:i
         return cross_spectrum
 
     def _generate_circular_grid(
-        self, radius:float=1.0, num_points_radial:int=50, num_points_angular:int=360
+        self, offset:float=0.45, radius:float=1.0, num_points_radial:int=50, num_points_angular:int=360
     )-> np.ndarray[np.float32]:
         """Generate a grid of points on a circular plane, optimized for speed."""
         # Create radial distances from 0 to the specified radius
-        r = np.linspace(0, radius, num_points_radial, dtype=np.float32)
+        r = np.linspace(offset, radius + offset, num_points_radial, dtype=np.float32)
 
         # Create angular values from 0 to 2*pi
         theta = np.linspace(0, 2 * np.pi, num_points_angular, dtype=np.float32)