Added test case(really small one) and printed out some results to show how data will be structured. Functionalities seem to work. More testing needed in terms of testing it with graph slam + maybe testing correctness of landmark_check as threshold value might change through the course of experiments. Also, there is one TODO in code: Check movement of robot. I mean the correlation between dx,dy and orientation of robot.
issueID #8
Changed little things and also fixed issue with dx and dy values for Gabi`s part. Now it uses forward and side move and takes into account cos and sin values of those to get/predict dx and dy values. Also, added orientation to relativeAngle while processing Roel`s part.
issueId #8
Some late night/early morning adjustments on common functionality and graph slam method. I made sure that graph slam works with newly created common functionality class and can make correct calculations without errors. So, also fixed bugs that existed in CommonFunctionality and also in graph slam class to fit new data structure. Seems to work fine with small test case. Looking forward for bigger test cases. Also fixed issue of seeing all landmarks/no landmarks. It all works now
issueId #8
Merge branch 'refs/heads/feature-4-GraphSLAMComment' into feature-3-EKF-Slam