Hi all, I've updated the source files for Homework 2 to fix a bug or two. There are now some extra functions for you to implement. These will be easy if you understand what is going on. I've also updated the homework sheet to clarify a few things: there is now a 'notes' section at the end of the assignment that may help.
I've also added a new python file
test.py. This file can be run using
python test.py. It uses the motionSample and (not suppled) observationSample functions to generate a series of motions and observations with the correct mean and variance from a list of supplied actions. The actions given would move the robot in a square (like the first lab), but noise in the execution of those actions leads the robot to only approximate that shape. Test.py uses a kalman filter to track the actual location as the robot walks around. I've also included the output for five different runs of this program.
I'm giving a general extension on this Homework until Friday. I'm very sorry for the bugs. :(