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Showing Revision 1 created 06/29/2012 by Amara Bot.

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