Changed line scenario: higher uncertainty
Fixing and updating line scenario, adding animations
Finished line scenario. Putting loch doppler variance down to 0.04m to get credible behavior, otherwise noise is at the same scale than the speed of the robot...
Works way better with heading std set at 0.02deg in the line scenario. Must check for the circle one.
Changed the precision of sensors to the 4 transponders, circle scenario. It is much more reasonnable, BUT little singularity at the first %pi/2. MUST fix that
Working on EKF
Discontinuity fixed
Now using real, noisy angular speed. Still converges around a non-exact solution but it is exptected (symetry of the problem?). Changing path variables, and imgs output dir.
Fixed paths issues.
No need to track all the .png of scilab animations. + added a gitignore