more stations = more good
@@ -128,7 +128,7 @@ class LocatorSpace:
def get_best_point(self, scan_values, station_ids):
stations = tuple(self.stations_lookup[station_id] for station_id in station_ids)
values = np.array(tuple(scan_values[station_id]**2 for station_id in station_ids), dtype=np.int32)
- scores = np.sum((self.levels[:, stations]-values)**2, axis=1)/len(stations)
+ scores = np.sum((self.levels[:, stations]-values)**2, axis=1) / len(stations) / (1.1**len(stations))
best_point = np.argmin(scores).ravel()[0]
return self.points[best_point], scores[best_point]
