conorhennessy / slam-course-solutions Goto Github PK

mu(1, 1) = mu(1) + (u.t * cos(mu(3) + u.r1));
mu(2, 1) = mu(2) + (u.t * sin(mu(3) + u.r1));
mu(3, 1) = mu(3) + (u.r1 + u.r2);
mu(3, 1) = normalize_angle(mu(3, 1));

% Compute the 3x3 Jacobian Gx of the motion model
Gx = eye(3, 3);
Gx(1, 3) = -u.t * cos(mu(3) + u.r1);
Gx(2, 3) = u.t * sin(mu(3) + u.r1);

Gx = eye(3, 3);
Gx(1, 3) = -u.t * sin(mu(3) + u.r1);
Gx(2, 3) = u.t * cos(mu(3) + u.r1);

Error using load
Unknown text on line number 1 of ASCII file ../data/simulation-pose-pose.dat
"MATLAB".

Error in lsSLAM (line 11)
load('../data/simulation-pose-pose.dat')

>> motion_command
Not enough input arguments.

Error in motion_command (line 8)
x(1) = x(1) + u.t * cos(normalize_angle(x(3)) + u.r1);

>> main
File: read_world.m Line: 19 Column: 11
Invalid use of operator.

Error in main (line 15)
landmarks = read_world('../data/world.dat');

% TODO: compute the likelihood of this observation, multiply with the former weight
%       to account for observing several features in one time step
% Weight, this corresponds to line 13 of slide 44 of FAST SLAM lecture (12)
particles(i).weight = 1/sqrt(det(2 * pi * Q)) * exp(-0.5 * (Z_diff)' * inv(Q) * Z_diff);

particles(i).weight = particles(i).weight * 1/sqrt(det(2 * pi * Q)) * exp(-0.5 * (Z_diff)' * inv(Q) * Z_diff);