RoboND-MCL-Lab

You will be able to observe the MCL in action through the generated images.

Editing the Program

Enter the code in the designated section:

//####   DON'T MODIFY ANYTHING ABOVE HERE! ENTER CODE BELOW ####
		
//TODO: e.g Graph the position of the robot and the particles at each step 

My Modification

I have added the steps of the algorithm on different files with main and solution

The final is RoboND-MCL-Lab compile solution.cpp to see the visualization with the Images as described below.

Steps

1. Robot Class
2. First Interaction
3. Motion and Sensing
4. Noise
5. Particle Filter
6. Importance Weight
7. Resampling
8. Resampling Wheel
9. Error
10. Graphing - RoboND

Compiling the Program from the original repo

$ cd /home/workspace/
$ git clone https://github.com/vi-ku/RoboND-MCL-Lab
$ cd RoboND-MCL-Lab/
$ rm -rf Images/*
$ g++ main.cpp -o app -std=c++11 -I/usr/include/python2.7 -lpython2.7

Running the Program

Before you run the program, make sure the Images folder is empty!

$ ./app

Wait for the program to iterate 50 times.

Generated Images

After running the program, 50 images will be generated in the Images folder.

Step0

Step49