Merge pull request #2367 from JdeRobot/issue-2362-b

Updated documentation

Author: ReyDoran

_pages/exercises/MobileRobots/montecarlo_laser_loc.md

@@ -108,9 +108,11 @@ while True:
 * `from GUI import GUI` - to import the GUI (Graphical User Interface) library class. This class contains the functions used to view the debugging information, like image widgets.
 * `HAL.setW()` - to set the angular velocity 
 * `HAL.setV()` - to set the linear velocity 
-* `GUI.showParticles(particles)` - shows the particles on the map. It is necessary to pass a list of particles as an argument. Each particle must be a list with [position_x, position_y, angle_in_degrees].    
-* `GUI.showPosition(pose)` - shows the estimated user position in the map view. It is necessary to pass a list with [position_x, position_y, angle_in_degrees]. The map view will also show the real position of the robot, so you can compare how good your algorithm is.
-* `GUI.getMap('/RoboticsAcademy/exercises/static/exercises/vacuum_cleaner_loc_newmanager/resources/mapgrannyannie.png')` - Returns a numpy array with the image data in a 3 dimensional array (R, G, B, A).
+* `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]. The values must be in gazebo world coordinate system.  
+* `GUI.showPosition(pose)` - 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.getMap('/RoboticsAcademy/exercises/static/exercises/vacuum_cleaner_loc_newmanager/resources/mapgrannyannie.png')` - Returns a numpy array with the image data in a 3 dimensional array (R, G, B, A). The image is 1024x1024.
+* `GUI.mapToPose(pose)`- converts a map pixel to gazebo world coordinate system position.
+* `GUI.poseToMap(pose)`- converts a gazebo world coordinate system position to a map pixel.
 
 
 ## Theory