CS 417 Assignment 3

Due Dec. 7th 2009

• Description
• Matlab sample code for the EKF question
• Player/Stage
• World files (For stage 3.1.0)
• The Boost Graph Library
• Sample code for wall following

Comments:

• Using P/S at the labs:
  • Set the LD_LIBRARY_PATH
    for example (in csh):
    setenv LD_LIBRARY_PATH /usr/local/pkgs/player/lib/:/usr/local/pkgs/stage/lib:$LD_LIBRARY_PATH
  • run player as:
    /usr/local/pkgs/player/bin/player autolab.cfg
• A new version of source code is available above. It contains the implementation of getAbsPose, setPose, and obtaining the poses of the sonar sensors. The old source code is here renamed to A1Source.tgz.0. Be carefull to not overwrite any work you have done in P2AT!
• Use Player 3.0.0 and Stage 3.1.0. for the provided world files. Stage 3.2.0 does not work.
• Use "make example0" or "make example1" for the two examples. example0 is the example provided by P/S; while example1 is the same algorithm using the P2AT class.
• The function relRotate is not implemented. You have to write the code to perform relative rotation. Remember the pp.getYaw() returns radians, the rotation is specified in degrees. Use the functions in Pose2D to transform from one to the other.
• The function getRealPose is not available yet. Feel free to try implementing it.
• If you do not have root permission on your machine, you have to use a different directory for player. This is done by modifying the original cmake command to: cmake .. -DCMAKE_INSTALL_PREFIX=YourHomeDirectory/myFavoritePlayerDirectory. You will have to do the same for stage. Do not forget to also set the following environment variable: export PKG_CONFIG_PATH+=YourHomeDirectory/myFavoritePlayerDirectory/lib/pkgconfig.