From fb212f383f1e1a2ac1f1e55c13401d662f6717bb Mon Sep 17 00:00:00 2001 From: MikeS96 Date: Wed, 15 Jul 2020 14:15:22 -0500 Subject: [PATCH] Updated name of MCL lab --- .../Images/Step0.png | Bin .../Images/Step1.png | Bin .../Images/Step10.png | Bin .../Images/Step11.png | Bin .../Images/Step12.png | Bin .../Images/Step13.png | Bin .../Images/Step14.png | Bin .../Images/Step15.png | Bin .../Images/Step16.png | Bin .../Images/Step17.png | Bin .../Images/Step18.png | Bin .../Images/Step19.png | Bin .../Images/Step2.png | Bin .../Images/Step20.png | Bin .../Images/Step21.png | Bin .../Images/Step22.png | Bin .../Images/Step23.png | Bin .../Images/Step24.png | Bin .../Images/Step25.png | Bin .../Images/Step26.png | Bin .../Images/Step27.png | Bin .../Images/Step28.png | Bin .../Images/Step29.png | Bin .../Images/Step3.png | Bin .../Images/Step30.png | Bin .../Images/Step31.png | Bin .../Images/Step32.png | Bin .../Images/Step33.png | Bin .../Images/Step34.png | Bin .../Images/Step35.png | Bin .../Images/Step36.png | Bin .../Images/Step37.png | Bin .../Images/Step38.png | Bin .../Images/Step39.png | Bin .../Images/Step4.png | Bin .../Images/Step40.png | Bin .../Images/Step41.png | Bin .../Images/Step42.png | Bin .../Images/Step43.png | Bin .../Images/Step44.png | Bin .../Images/Step45.png | Bin .../Images/Step46.png | Bin .../Images/Step47.png | Bin .../Images/Step48.png | Bin .../Images/Step49.png | Bin .../Images/Step5.png | Bin .../Images/Step6.png | Bin .../Images/Step7.png | Bin .../Images/Step8.png | Bin .../Images/Step9.png | Bin .../{RoboND-MCL-Lab => MCL_Lab}/LICENSE | 0 .../{RoboND-MCL-Lab => MCL_Lab}/README.md | 0 .../{RoboND-MCL-Lab => MCL_Lab}/main.cpp | 0 .../src/matplotlibcpp.h | 0 localization/mcl_lab/robot_localization.cpp | 303 ------------------ 55 files changed, 303 deletions(-) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step0.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step1.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step10.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step11.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step12.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step13.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step14.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step15.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step16.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step17.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step18.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step19.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step2.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step20.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step21.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step22.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step23.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step24.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step25.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step26.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step27.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step28.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step29.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step3.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step30.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step31.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step32.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step33.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step34.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step35.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step36.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step37.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step38.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step39.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step4.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step40.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step41.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step42.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step43.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step44.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step45.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step46.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step47.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step48.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step49.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step5.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step6.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step7.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step8.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/Images/Step9.png (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/LICENSE (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/README.md (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/main.cpp (100%) rename localization/mcl_lab/{RoboND-MCL-Lab => MCL_Lab}/src/matplotlibcpp.h (100%) delete mode 100644 localization/mcl_lab/robot_localization.cpp diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step0.png b/localization/mcl_lab/MCL_Lab/Images/Step0.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step0.png rename to localization/mcl_lab/MCL_Lab/Images/Step0.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step1.png b/localization/mcl_lab/MCL_Lab/Images/Step1.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step1.png rename to localization/mcl_lab/MCL_Lab/Images/Step1.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step10.png b/localization/mcl_lab/MCL_Lab/Images/Step10.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step10.png rename to localization/mcl_lab/MCL_Lab/Images/Step10.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step11.png b/localization/mcl_lab/MCL_Lab/Images/Step11.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step11.png rename to localization/mcl_lab/MCL_Lab/Images/Step11.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step12.png b/localization/mcl_lab/MCL_Lab/Images/Step12.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step12.png rename to localization/mcl_lab/MCL_Lab/Images/Step12.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step13.png b/localization/mcl_lab/MCL_Lab/Images/Step13.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step13.png rename to localization/mcl_lab/MCL_Lab/Images/Step13.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step14.png b/localization/mcl_lab/MCL_Lab/Images/Step14.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step14.png rename to localization/mcl_lab/MCL_Lab/Images/Step14.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step15.png b/localization/mcl_lab/MCL_Lab/Images/Step15.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step15.png rename to localization/mcl_lab/MCL_Lab/Images/Step15.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step16.png b/localization/mcl_lab/MCL_Lab/Images/Step16.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step16.png rename to localization/mcl_lab/MCL_Lab/Images/Step16.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step17.png b/localization/mcl_lab/MCL_Lab/Images/Step17.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step17.png rename to localization/mcl_lab/MCL_Lab/Images/Step17.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step18.png b/localization/mcl_lab/MCL_Lab/Images/Step18.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step18.png rename to localization/mcl_lab/MCL_Lab/Images/Step18.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step19.png b/localization/mcl_lab/MCL_Lab/Images/Step19.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step19.png rename to localization/mcl_lab/MCL_Lab/Images/Step19.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step2.png b/localization/mcl_lab/MCL_Lab/Images/Step2.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step2.png rename to localization/mcl_lab/MCL_Lab/Images/Step2.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step20.png b/localization/mcl_lab/MCL_Lab/Images/Step20.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step20.png rename to localization/mcl_lab/MCL_Lab/Images/Step20.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step21.png b/localization/mcl_lab/MCL_Lab/Images/Step21.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step21.png rename to localization/mcl_lab/MCL_Lab/Images/Step21.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step22.png b/localization/mcl_lab/MCL_Lab/Images/Step22.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step22.png rename to localization/mcl_lab/MCL_Lab/Images/Step22.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step23.png b/localization/mcl_lab/MCL_Lab/Images/Step23.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step23.png rename to localization/mcl_lab/MCL_Lab/Images/Step23.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step24.png b/localization/mcl_lab/MCL_Lab/Images/Step24.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step24.png rename to localization/mcl_lab/MCL_Lab/Images/Step24.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step25.png b/localization/mcl_lab/MCL_Lab/Images/Step25.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step25.png rename to localization/mcl_lab/MCL_Lab/Images/Step25.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step26.png b/localization/mcl_lab/MCL_Lab/Images/Step26.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step26.png rename to localization/mcl_lab/MCL_Lab/Images/Step26.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step27.png b/localization/mcl_lab/MCL_Lab/Images/Step27.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step27.png rename to localization/mcl_lab/MCL_Lab/Images/Step27.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step28.png b/localization/mcl_lab/MCL_Lab/Images/Step28.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step28.png rename to localization/mcl_lab/MCL_Lab/Images/Step28.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step29.png b/localization/mcl_lab/MCL_Lab/Images/Step29.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step29.png rename to localization/mcl_lab/MCL_Lab/Images/Step29.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step3.png b/localization/mcl_lab/MCL_Lab/Images/Step3.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step3.png rename to localization/mcl_lab/MCL_Lab/Images/Step3.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step30.png b/localization/mcl_lab/MCL_Lab/Images/Step30.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step30.png rename to localization/mcl_lab/MCL_Lab/Images/Step30.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step31.png b/localization/mcl_lab/MCL_Lab/Images/Step31.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step31.png rename to localization/mcl_lab/MCL_Lab/Images/Step31.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step32.png b/localization/mcl_lab/MCL_Lab/Images/Step32.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step32.png rename to localization/mcl_lab/MCL_Lab/Images/Step32.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step33.png b/localization/mcl_lab/MCL_Lab/Images/Step33.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step33.png rename to localization/mcl_lab/MCL_Lab/Images/Step33.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step34.png b/localization/mcl_lab/MCL_Lab/Images/Step34.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step34.png rename to localization/mcl_lab/MCL_Lab/Images/Step34.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step35.png b/localization/mcl_lab/MCL_Lab/Images/Step35.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step35.png rename to localization/mcl_lab/MCL_Lab/Images/Step35.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step36.png b/localization/mcl_lab/MCL_Lab/Images/Step36.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step36.png rename to localization/mcl_lab/MCL_Lab/Images/Step36.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step37.png b/localization/mcl_lab/MCL_Lab/Images/Step37.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step37.png rename to localization/mcl_lab/MCL_Lab/Images/Step37.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step38.png b/localization/mcl_lab/MCL_Lab/Images/Step38.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step38.png rename to localization/mcl_lab/MCL_Lab/Images/Step38.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step39.png b/localization/mcl_lab/MCL_Lab/Images/Step39.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step39.png rename to localization/mcl_lab/MCL_Lab/Images/Step39.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step4.png b/localization/mcl_lab/MCL_Lab/Images/Step4.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step4.png rename to localization/mcl_lab/MCL_Lab/Images/Step4.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step40.png b/localization/mcl_lab/MCL_Lab/Images/Step40.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step40.png rename to localization/mcl_lab/MCL_Lab/Images/Step40.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step41.png b/localization/mcl_lab/MCL_Lab/Images/Step41.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step41.png rename to localization/mcl_lab/MCL_Lab/Images/Step41.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step42.png b/localization/mcl_lab/MCL_Lab/Images/Step42.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step42.png rename to localization/mcl_lab/MCL_Lab/Images/Step42.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step43.png b/localization/mcl_lab/MCL_Lab/Images/Step43.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step43.png rename to localization/mcl_lab/MCL_Lab/Images/Step43.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step44.png b/localization/mcl_lab/MCL_Lab/Images/Step44.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step44.png rename to localization/mcl_lab/MCL_Lab/Images/Step44.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step45.png b/localization/mcl_lab/MCL_Lab/Images/Step45.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step45.png rename to localization/mcl_lab/MCL_Lab/Images/Step45.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step46.png b/localization/mcl_lab/MCL_Lab/Images/Step46.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step46.png rename to localization/mcl_lab/MCL_Lab/Images/Step46.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step47.png b/localization/mcl_lab/MCL_Lab/Images/Step47.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step47.png rename to localization/mcl_lab/MCL_Lab/Images/Step47.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step48.png b/localization/mcl_lab/MCL_Lab/Images/Step48.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step48.png rename to localization/mcl_lab/MCL_Lab/Images/Step48.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step49.png b/localization/mcl_lab/MCL_Lab/Images/Step49.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step49.png rename to localization/mcl_lab/MCL_Lab/Images/Step49.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step5.png b/localization/mcl_lab/MCL_Lab/Images/Step5.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step5.png rename to localization/mcl_lab/MCL_Lab/Images/Step5.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step6.png b/localization/mcl_lab/MCL_Lab/Images/Step6.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step6.png rename to localization/mcl_lab/MCL_Lab/Images/Step6.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step7.png b/localization/mcl_lab/MCL_Lab/Images/Step7.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step7.png rename to localization/mcl_lab/MCL_Lab/Images/Step7.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step8.png b/localization/mcl_lab/MCL_Lab/Images/Step8.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step8.png rename to localization/mcl_lab/MCL_Lab/Images/Step8.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/Images/Step9.png b/localization/mcl_lab/MCL_Lab/Images/Step9.png similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/Images/Step9.png rename to localization/mcl_lab/MCL_Lab/Images/Step9.png diff --git a/localization/mcl_lab/RoboND-MCL-Lab/LICENSE b/localization/mcl_lab/MCL_Lab/LICENSE similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/LICENSE rename to localization/mcl_lab/MCL_Lab/LICENSE diff --git a/localization/mcl_lab/RoboND-MCL-Lab/README.md b/localization/mcl_lab/MCL_Lab/README.md similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/README.md rename to localization/mcl_lab/MCL_Lab/README.md diff --git a/localization/mcl_lab/RoboND-MCL-Lab/main.cpp b/localization/mcl_lab/MCL_Lab/main.cpp similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/main.cpp rename to localization/mcl_lab/MCL_Lab/main.cpp diff --git a/localization/mcl_lab/RoboND-MCL-Lab/src/matplotlibcpp.h b/localization/mcl_lab/MCL_Lab/src/matplotlibcpp.h similarity index 100% rename from localization/mcl_lab/RoboND-MCL-Lab/src/matplotlibcpp.h rename to localization/mcl_lab/MCL_Lab/src/matplotlibcpp.h diff --git a/localization/mcl_lab/robot_localization.cpp b/localization/mcl_lab/robot_localization.cpp deleted file mode 100644 index 3abad80..0000000 --- a/localization/mcl_lab/robot_localization.cpp +++ /dev/null @@ -1,303 +0,0 @@ -//#include "src/matplotlibcpp.h"//Graph Library -#include -#include -#include -#include -#include // throw errors -#include //C++ 11 Random Numbers - -//namespace plt = matplotlibcpp; -using namespace std; - -// Landmarks -double landmarks[8][2] = { { 20.0, 20.0 }, { 20.0, 80.0 }, { 20.0, 50.0 }, - { 50.0, 20.0 }, { 50.0, 80.0 }, { 80.0, 80.0 }, - { 80.0, 20.0 }, { 80.0, 50.0 } }; - -// Map size in meters -double world_size = 100.0; - -// Random Generators -random_device rd; -mt19937 gen(rd()); - -// Global Functions -double mod(double first_term, double second_term); -double gen_real_random(); - -class Robot { -public: - Robot() - { - // Constructor - x = gen_real_random() * world_size; // robot's x coordinate - y = gen_real_random() * world_size; // robot's y coordinate - orient = gen_real_random() * 2.0 * M_PI; // robot's orientation - - forward_noise = 0.0; //noise of the forward movement - turn_noise = 0.0; //noise of the turn - sense_noise = 0.0; //noise of the sensing - } - - void set(double new_x, double new_y, double new_orient) - { - // Set robot new position and orientation - if (new_x < 0 || new_x >= world_size) - throw std::invalid_argument("X coordinate out of bound"); - if (new_y < 0 || new_y >= world_size) - throw std::invalid_argument("Y coordinate out of bound"); - if (new_orient < 0 || new_orient >= 2 * M_PI) - throw std::invalid_argument("Orientation must be in [0..2pi]"); - - x = new_x; - y = new_y; - orient = new_orient; - } - - void set_noise(double new_forward_noise, double new_turn_noise, double new_sense_noise) - { - // Simulate noise, often useful in particle filters - forward_noise = new_forward_noise; - turn_noise = new_turn_noise; - sense_noise = new_sense_noise; - } - - vector sense() - { - // Measure the distances from the robot toward the landmarks - vector z(sizeof(landmarks) / sizeof(landmarks[0])); - double dist; - - for (int i = 0; i < sizeof(landmarks) / sizeof(landmarks[0]); i++) { - dist = sqrt(pow((x - landmarks[i][0]), 2) + pow((y - landmarks[i][1]), 2)); - dist += gen_gauss_random(0.0, sense_noise); - z[i] = dist; - } - return z; - } - - Robot move(double turn, double forward) - { - if (forward < 0) - throw std::invalid_argument("Robot cannot move backward"); - - // turn, and add randomness to the turning command - orient = orient + turn + gen_gauss_random(0.0, turn_noise); - orient = mod(orient, 2 * M_PI); - - // move, and add randomness to the motion command - double dist = forward + gen_gauss_random(0.0, forward_noise); - x = x + (cos(orient) * dist); - y = y + (sin(orient) * dist); - - // cyclic truncate - x = mod(x, world_size); - y = mod(y, world_size); - - // set particle - Robot res; - res.set(x, y, orient); - res.set_noise(forward_noise, turn_noise, sense_noise); - - return res; - } - - string show_pose() - { - // Returns the robot current position and orientation in a string format - return "[x=" + to_string(x) + " y=" + to_string(y) + " orient=" + to_string(orient) + "]"; - } - - string read_sensors() - { - // Returns all the distances from the robot toward the landmarks - vector z = sense(); - string readings = "["; - for (int i = 0; i < z.size(); i++) { - readings += to_string(z[i]) + " "; - } - readings[readings.size() - 1] = ']'; - - return readings; - } - - double measurement_prob(vector measurement) - { - // Calculates how likely a measurement should be - double prob = 1.0; - double dist; - - for (int i = 0; i < sizeof(landmarks) / sizeof(landmarks[0]); i++) { - dist = sqrt(pow((x - landmarks[i][0]), 2) + pow((y - landmarks[i][1]), 2)); - prob *= gaussian(dist, sense_noise, measurement[i]); - } - - return prob; - } - - double x, y, orient; //robot poses - double forward_noise, turn_noise, sense_noise; //robot noises - -private: - double gen_gauss_random(double mean, double variance) - { - // Gaussian random - normal_distribution gauss_dist(mean, variance); - return gauss_dist(gen); - } - - double gaussian(double mu, double sigma, double x) - { - // Probability of x for 1-dim Gaussian with mean mu and var. sigma - return exp(-(pow((mu - x), 2)) / (pow(sigma, 2)) / 2.0) / sqrt(2.0 * M_PI * (pow(sigma, 2))); - } -}; - -// Functions -double gen_real_random() -{ - // Generate real random between 0 and 1 - uniform_real_distribution real_dist(0.0, 1.0); //Real - return real_dist(gen); -} - -double mod(double first_term, double second_term) -{ - // Compute the modulus - return first_term - (second_term)*floor(first_term / (second_term)); -} - -double evaluation(Robot r, Robot p[], int n) -{ - //Calculate the mean error of the system - double sum = 0.0; - for (int i = 0; i < n; i++) { - //the second part is because of world's cyclicity - double dx = mod((p[i].x - r.x + (world_size / 2.0)), world_size) - (world_size / 2.0); - double dy = mod((p[i].y - r.y + (world_size / 2.0)), world_size) - (world_size / 2.0); - double err = sqrt(pow(dx, 2) + pow(dy, 2)); - sum += err; - } - return sum / n; -} -double max(double arr[], int n) -{ - // Identify the max element in an array - double max = 0; - for (int i = 0; i < n; i++) { - if (arr[i] > max) - max = arr[i]; - } - return max; -} -/* -void visualization(int n, Robot robot, int step, Robot p[], Robot pr[]) -{ - //Draw the robot, landmarks, particles and resampled particles on a graph - - //Graph Format - plt::title("MCL, step " + to_string(step)); - plt::xlim(0, 100); - plt::ylim(0, 100); - - //Draw particles in green - for (int i = 0; i < n; i++) { - plt::plot({ p[i].x }, { p[i].y }, "go"); - } - - //Draw resampled particles in yellow - for (int i = 0; i < n; i++) { - plt::plot({ pr[i].x }, { pr[i].y }, "yo"); - } - - //Draw landmarks in red - for (int i = 0; i < sizeof(landmarks) / sizeof(landmarks[0]); i++) { - plt::plot({ landmarks[i][0] }, { landmarks[i][1] }, "ro"); - } - - //Draw robot position in blue - plt::plot({ robot.x }, { robot.y }, "bo"); - - //Save the image and close the plot - plt::save("./Images/Step" + to_string(step) + ".png"); - plt::clf(); -} -*/ - -//#### DON'T MODIFY ANYTHING ABOVE HERE! ENTER CODE BELOW #### - - -int main() -{ - //Practice Interfacing with Robot Class - Robot myrobot; - myrobot.set_noise(5.0, 0.1, 5.0); - myrobot.set(30.0, 50.0, M_PI / 2.0); - myrobot.move(-M_PI / 2.0, 15.0); - //cout << myrobot.read_sensors() << endl; - myrobot.move(-M_PI / 2.0, 10.0); - //cout << myrobot.read_sensors() << endl; - - // Create a set of particles - int n = 1000; - Robot p[n]; - - for (int i = 0; i < n; i++) { - p[i].set_noise(0.05, 0.05, 5.0); - //cout << p[i].show_pose() << endl; - } - - //Re-initialize myrobot object and Initialize a measurment vector - myrobot = Robot(); - vector z; - - //Iterating 50 times over the set of particles - int steps = 50; - for (int t = 0; t < steps; t++) { - - //Move the robot and sense the environment afterwards - myrobot = myrobot.move(0.1, 5.0); - z = myrobot.sense(); - - // Simulate a robot motion for each of these particles - Robot p2[n]; - for (int i = 0; i < n; i++) { - p2[i] = p[i].move(0.1, 5.0); - p[i] = p2[i]; - } - - //Generate particle weights depending on robot's measurement - double w[n]; - for (int i = 0; i < n; i++) { - w[i] = p[i].measurement_prob(z); - //cout << w[i] << endl; - } - - //Resample the particles with a sample probability proportional to the importance weight - Robot p3[n]; - int index = gen_real_random() * n; - //cout << index << endl; - double beta = 0.0; - double mw = max(w, n); - //cout << mw; - for (int i = 0; i < n; i++) { - beta += gen_real_random() * 2.0 * mw; - while (beta > w[index]) { - beta -= w[index]; - index = mod((index + 1), n); - } - p3[i] = p[index]; - } - for (int k=0; k < n; k++) { - p[k] = p3[k]; - //cout << p[k].show_pose() << endl; - } - - //#### DON'T MODIFY ANYTHING ABOVE HERE! ENTER CODE BELOW #### - - //Evaluate the error by priting it in this form: - cout << "Step = " << t << ", Evaluation = " << evaluation(myrobot, p, n) << endl; - - } //End of Steps loop - return 0; -} \ No newline at end of file