pinv_test.py 文件源码

def main():
    sensor_poses, dist_diff = make_data()

    inhom_mat = np.mat(np.zeros([sensors - 2, 1]))
    coeff_mat = np.mat(np.zeros([sensors - 2, 2]))
    for i in range(2, sensors):
        args = dist_diff[1], dist_diff[i], \
               sensor_poses[0], sensor_poses[1], sensor_poses[i]
        coeff_mat[i - 2, 0], coeff_mat[i - 2, 1] = coeff(*args)
        inhom_mat[i - 2] = -inhom(*args)

    x_sol = lin.pinv(coeff_mat) * inhom_mat
    x, y = x_sol[0, 0], x_sol[1, 0]
    print("The source is anticipated at ({0}, {1})".format(x, y))