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06-32 Expand

  • 0:00 - 0:05
    Now I want you to extend your routine to accommodate the landmark
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    Specifically, I want you to use a function that I coded for you that is very useful
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    that is called "expand."
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    You can run omega.expand, xi.expand to take a 3 x 3 matrix or vector
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    and move it to a 4 x 4 vector that you actually need when you have to include
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    the landmark itself.
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    Give that a try and see if you can modify the code
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    to now have additional input parameters of measurement 0, 1, and 2.
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    In particular, here is our new doit routine.
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    It now has as input parameters my 2 motion commands
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    and the 3 measurement commands for the 3 different poses.
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    Here is the code that you produced before.
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    That's my version of it where we have the initial 3 x 3 matrix.
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    Then using the expansion command
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    you can now increase those to a 4 x 4 matrix and a 4 x 1 vector.
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    When you run it what comes out is this result over here-- -3, 2, 5, 7.
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    I want you to do this where -3 and 2 and 5 is the robot path,
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    and 7, as before, is the landmark location.
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    Please code this and realize that I can modify the input to doit just fine,
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    and your code should not just produce this one vector,
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    but it should implement the right math.
Title:
06-32 Expand
Description:

Other units in this course below:
Unit 1: http://www.youtube.com/playlist?list=PL1EF620FCB11312A6
Unit 2: http://www.youtube.com/playlist?list=PL107FD47786234011
Unit 3: http://www.youtube.com/playlist?list=PL5493E5D24A081719
Unit 4: http://www.youtube.com/playlist?list=PLAADAB4F235FE8D65
Unit 5: http://www.youtube.com/playlist?list=PL1B9983ACF22B1920
Unit 6: http://www.youtube.com/playlist?list=PLC9ED5AC39694C141
QA: http://www.youtube.com/playlist?list=PL3475310BFB1CBE34

To gain access to interactive quizzes, homework, programming assignments and a helpful community, join the class at http://www.udacity.com

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Video Language:
English
Team:
Udacity
Project:
CS373 - Artificial Intelligence
Duration:
01:25
Amara Bot added a translation

English subtitles

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