Comments

Author: SwapnilPande

CMakeLists.txt

@@ -3,4 +3,4 @@ project(EKFSlam)
 
 set(CMAKE_CXX_STANDARD 11)
 
-add_executable(EKFSlam main.cpp EKFSlammer.h EKFSlammer.cpp Utils.h Robot.cpp)
+add_executable(EKFSlam main.cpp EKFSlammer.h EKFSlammer.cpp Utils.h Robot.cpp Robot.h)

EKFSlammer.h

@@ -19,8 +19,8 @@ class EKFSlammer {
 
     int n; //Number of stored landmark features
 
-    //TODO make this smarter than a simple distance
-    double newFeatureThreshold; //Distance threshold for classifying observed features as new
+    //Mahalanobis distance threshold for classifying observed features as new
+    double newFeatureThreshold;
 
 
 public:
@@ -66,7 +66,7 @@ class EKFSlammer {
 
     void kinectUpdate(Eigen::VectorXd &z);
 
-    void accelerometerUpdate((Eigen::Vector2d &previousS, Eigen::Vector2d &gamma);
+    void accelerometerUpdate(Eigen::Vector2d &previousS, Eigen::Vector2d &gamma, Eigen::Vector2d encoder);
 
     void gyroUpdate(double &previousTheta, double &beta);
 

Robot.cpp

@@ -1 +1 @@
-//Robot Simulation Class to simulate performance of SLAM
+//Robot Simulation Class to simulate performance of SLAM

Robot.h

@@ -0,0 +1,17 @@
+//
+// Created by Swapnil on 4/27/2018.
+//
+
+#ifndef EKFSLAM_ROBOT_H
+#define EKFSLAM_ROBOT_H
+
+
+#include "Eigen/Dense"
+#include "Utils.h"
+
+class EKFSlammer {
+private:
+
+
+
+#endif //EKFSLAM_ROBOT_H