about to take landmarks out of state
successfully took landmarks out of state. but now need to tweak hyperparameters
loop closure when ommitting landmarks when not observed. not suitable for optimization though. moving on to slam-belief
slam-belief and slam-state both work. both have same hyperparameters, but quadratic penalty cost higher for belief. empirically works better.
about to rescale
forgot to add control. also, something broke with slam-state. going to revert back and find out what happened
problem was in untracked file casadi/slam.h
switching to master to work on parameter
close to working slam-smooth
close to working slam-smooth
slam-smooth not robust. have interpolation in python working
slam-state works with landmarks file
have reading from landmarks.txt for slam-belief, slam-state, slam-control
forgot to add new landmark files
log data for the experiments in slam/data
data processing pipeline complete
most of ilqg in place. adding deltaMatrix now
deltaMatrix doesn't make it work
about to pull on rll2
pushing from rll2 so I can generate plots