I've implemented the simple motion model based on a diff-drive robot in particle_filter.cc with an initial assignment of hyperparameters. The motion model appears to exhibit the general expected behavior in the simulator, where the particles fan out over time as the robot moves. The hyperparameters need to be tuned (tracked in #28).
I've implemented the simple motion model based on a diff-drive robot in
particle_filter.ccwith an initial assignment of hyperparameters. The motion model appears to exhibit the general expected behavior in the simulator, where the particles fan out over time as the robot moves. The hyperparameters need to be tuned (tracked in #28).Demonstration here (links to slack).
I've also changed the API for
ParticleFilter::GetLocationsuch that it no longer takes pointers as parameters and now returns a pair of values.Closes #27