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Working on FastSLAM 1.0
Oops added the pngs for the videos
sample motion model
Changed way to represent/store a particle
Changed storage of particles again
2 todos: make h 'landmark number independant', complete the function that compute the jacobian of h
Working on initializing the particle set
Init. fixed. Need to plot to be sure
Set correctly distributed.
Init, drawing ok. Continue on the real FastSlam work ;)
Observation function was linearized using measurements instead of estimated measurements in EKF SLAM. Fixed it.
Use the theta measurement in FastSLAM
FastSLAM almost working. Need to check that landmarks are correctly updated, and that roulette_sampling works correctly.
Bug is not in the KF of the landmarks
Landmarks are displayed correctly now. Need to fix the reason why they don't update.
There was a problem with particle initialization. Fixed. Still need to fix Kalman Update.
dt was set wrong.
Function 'update_particle'  doesn't update landmarks position correctly
Covariance matrix of each landmark estimate were not pushed into the particle. Corrected it. Now one landmark of one particle is updating correctly.