Merge pull request #2926 from JdeRobot/montecarlo_visual_loc_update_gh-pages

Montecarlo visual loc update gh pages

Author: javizqh

_pages/exercises/ComputerVision/montecarlo_visual_loc.md

@@ -114,9 +114,19 @@ while True:
 * `HAL.getPose3d().x` - to get the position of the robot (x coordinate)
 * `HAL.getPose3d().y` - to obtain the position of the robot (y coordinate)
 * `HAL.getPose3d().yaw` - to get the orientation of the robot  
+* `HAL.getOdom().x` - to get the approximated X coordinate of the robot (with noise)
+* `HAL.getOdom().y` - to get the approximated XY coordinate of the robot (with noise)
+* `HAL.getOdom().yaw` - to get the approximated orientation position of the robot (with noise)
 * `GUI.showImage()` - allows you to view a debug image or with relevant information
 * `GUI.showParticles(particles)` - shows the particles on the map. Accepts a list of particles as an argument. Each particle must be a list with [position_x, position_y, angle_in_radians, weight]. The values must be in gazebo world coordinate system.    
 * `GUI.showPosition(x, y, yaw)` - shows the estimated user position in the map view in blue. Accepts a list with [position_x, position_y, angle_in_radians]. The values must be in gazebo world coordinate system. The map view will also show the real position of the robot in red, so you can compare how good your algorithm is.
+* `GUI.mapToPose(x, y, yaw)`- converts a map pixel to gazebo world coordinate system position.
+* `GUI.poseToMap(x, y, yaw)`- converts a gazebo world coordinate system position to a map pixel.
+* `GUI.getMap(url)` - Returns a numpy array with the image data in a 3 dimensional array (R, G, B, A). The image is 1012x1012. The instruction to get the map is
+
+```python
+array = GUI.getMap('/resources/exercises/montecarlo_laser_loc/images/mapgrannyannie.png')
+```
 
 
 ## Theory