python3.9安装numpy+mky_python3.9安装numpy+mky_TypeError：对象数组可能是自引用的python...

So, I ran into this error:

temp7:

1.68219771725e-06

temp6:

[[array([-60800056.33037408], dtype=object)]]

Exception in thread Thread-4:

Traceback (most recent call last):

File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner

self.run()

File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/timer.py", line 223, in run

self._callback(TimerEvent(last_expected, last_real, current_expected, current_real, last_duration))

File "/home/husky/catkin_ws/src/huskybot_ekf_v2/src/meas_update.py", line 194, in meas_update_step

thisJ = temp7 * math.exp(temp6)

It seems like on the very last line thisJ =temp7* math.exp(temp6), that I can't take the exponent of temp6. Does anyone know the cause?

for i in range(0,len(line_features)-1):

for k in range(0, len(m)):

mkx = m[k][0]

mky = m[k][1]

posex = predicted_pose.x

posey = predicted_pose.y

poseth = predicted_pose.theta

distx = math.pow((mkx - posex), 2);

disty = math.pow((mky - posey), 2);

q = distx + disty

angle = math.atan2(mky-posey, mkx-posex) - poseth

expected_meas = numpy.array([[math.sqrt(q)],

[angle],

[0]

])

H = numpy.array([[-(mkx-posex)/math.sqrt(q), -(mky-posey)/math.sqrt(q) , 0],

[(mky-posey)/q, -(mkx-posex)/q, -1],

[0 , 0, 0]])

Qt = 0.5

innovation_cov = H*predicted_cov*numpy.transpose(H)+Qt

innovation = ave_meas_dist - expected_meas

dd = [[2]]

#dd = array[0]

#print 0.5*numpy.array(dd)

temp5 = -1/2 * numpy.dot(numpy.transpose(innovation), numpy.linalg.inv(innovation_cov))

temp6 = numpy.dot(temp5, innovation)

print math.sqrt(numpy.linalg.det(2*math.pi*innovation_cov)) * numpy.array(dd)

temp7 = math.sqrt(numpy.linalg.det(2*math.pi*innovation_cov))

thisJ =temp7* math.exp(temp6)

解决方案

I tried to reproduce the error. The error I got is:

TypeError: must be real number, not list

If the error is same then it was solved by doing this:

thisJ = temp7 * math.exp(temp6[0][0])

Because temp6 type is list containing list containing array object. Please do correct me if I am wrong.