greenteawarrior/mobile-robotics — pull request #16 by greenteawarrior (2014-10-05 16:12:48+00:00)
Title: implemented another iteration of update_particles_with_laser() - calculating prob. of nearest neighbor's distance

compute position using laser scan
calculating the probability of nearest neighbor's distance
total_probability_density calculation needs to be improved : currently there's a hacky +1
position does indeed converge in rviz but should be tested/improved