|CSCI 4190: Introduction to Robotic Algorithms, Spring 2006|
Although there are a bunch of files here, the only one that you'll need to write code in is localization.cpp. There are some comments in this file with some further instructions.
In my case (on the CS department FreeBSD systems), after doing make linux_RH, I edited the top-level Makefile to edit the DEST variable (because I'm not installing to /usr/local, and I also had to edit makefiles/config.mf to make sure it was compiling and linking with the same version of gcc (3.4) that I'm using to compile my programs (because the default in the CS environment is 2.95).
You can find the original distribution of the code here. I believe the only changes were to change one line of Mat.cpp to replace the abs function with the fabs function. The windows version has an updated project file.
Name the problem files for these tests: test1.txt, test2.txt, etc. Turn in these problem files (and associated command and robot files) electronically with your source code.
Turn in on your written work a brief description of these tests, including what they are designed to test and the results you got from your program.
Briefly describy, in your written work, what happens in this test: what should happen and why this test shows filter divergence.
This means that the covariance of x and theta, and the covariance of y and theta (the element in row 1, column 3 (also row 3 column 1) and in row 2 column 3 (also row 3 column 2)) are not being used. In general, these numbers are not zero.
What does this mean about the position and orientation and their uncertainty? Why are we ignoring these elements?