search

WaterlooRobotics / mobilerobotics

Matlab and Robot code for MTE 544: Autonomous Mobile Robotics at the University of Waterloo
67 stars 38 forks source link

Mapping #15

Closed stevenwaslander closed 6 years ago

stevenwaslander commented 8 years ago

Functionalize occupancy grid mapping with inverse measurement models.Test on multiple environments, and with different sensor options. Use inverse measurement models for lidar, sonar in both windowed block update mode and bresenham ray trace mode. Test on both small and large maps.

icolwell commented 8 years ago

Would it be worthwhile to delve into object oriented programming in MatLab? It could clean some things up nicely but I don't know how widely used MatLab OOP is, I wouldn't want to over complicate it. Your above comment specifically says "functionalize" so I'm guessing I should stay away from OOP.

stevenwaslander commented 8 years ago

Yes, definitely resist the urge to OOP in Matlab. Functions only.

alexsb92 commented 8 years ago

Just a small bug I noticed in the inversescannerbres.m file, when creating m, it should be m = [list 0.4*ones(length(list(:,1)),1)]; as with just list there it won't work as expected when only one point was found on the ray.