bikurishita/WVU-Lunabotics — pull request #3 by lareaves (2014-02-04 04:05:10+00:00)
Title: various cleanups

I removed dead code, drew the robot position larger and added rotation, .gitignored build products, and adjusted the attenuation strategy on the historical map. I also changed the swarm parameters to better utilize my desktop CPU and allow tracking of faster motion. With 2500 particles, one core of a Phenom II X4 965 can keep up with the sensor (100ms) and track my position and orientation as I leisurely walk around my room. This includes the time it takes to upload the buffer to the graphics card, which I am currently doing for every new scan. Obviously, we can skip this expensive operation on the robot.