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WaterlooRobotics / mobilerobotics

Matlab and Robot code for MTE 544: Autonomous Mobile Robotics at the University of Waterloo
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Cleaned up the code to call the kalman estimation function... #68

Closed idlebear closed 6 years ago

idlebear commented 6 years ago

getting rid of the need to pass in the example number, t, and frequency.

There is some other minor formatting clean up that you may wish to keep or ignore in example3.

Also, example3 is storing (and never using) the first two columns of the Kalman multiplier (K) in K_S, ignoring the fact that K is a matrix varying in size, either 4x2 or 4x4, depending on the size of the input measurement matrix C. Since the input changes, I suspect the meaning of the K matrix changes as well, making the K_S() data possibly not that useful.

idlebear commented 6 years ago

Found the problem with the particle filter -- turns out you need to use updated calculations for X instead of the original values. Also need to update the call to the kalman function to get rid of the extra parameters that aren't required any longer.

idlebear commented 6 years ago

No worries. Ekf slam is done as well.

Barry

On Feb 16, 2018, at 12:07 PM, Steven Waslander notifications@github.com wrote:

@stevenwaslander approved this pull request.

Awesome, great cleanup.

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