Adding Extended Kalman Filter video.

mario-rei · Dec 11, 2017 · e66efd3 · e66efd3
1 parent 4f611e7
commit e66efd3
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Showing 12 changed files with 13,199 additions and 19 deletions.
diff --git a/extended-kalman-filters/CMakeLists.txt b/extended-kalman-filters/CMakeLists.txt
@@ -4,10 +4,27 @@ cmake_minimum_required (VERSION 3.5)
 
 add_definitions(-std=c++14)
 
+set(CXX_FLAGS "-Wall")
+set(CMAKE_CXX_FLAGS, "${CXX_FLAGS}")
+
 set(sources
     src/tools.cpp
     src/io.cpp
     src/kalman_filter.cpp
-    src/main.cpp)
+    src/main-for-simulator.cpp)
+
+
+if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") 
+
+include_directories(/usr/local/include)
+include_directories(/usr/local/opt/openssl/include)
+link_directories(/usr/local/lib)
+link_directories(/usr/local/opt/openssl/lib)
+link_directories(/usr/local/Cellar/libuv/1*/lib)
+
+endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") 
+
 
 add_executable(ExtendedKF ${sources})
+
+target_link_libraries(ExtendedKF z ssl uv uWS)
diff --git a/extended-kalman-filters/result.mp4 b/extended-kalman-filters/result.mp4
diff --git a/extended-kalman-filters/src/io.cpp b/extended-kalman-filters/src/io.cpp
@@ -49,8 +49,11 @@ ostream& operator<<(ostream& outs, const Measurement& m) {
          << m.value(1) << "\t";
   }
   else {
-    const auto xy = tools::ConvertFromPolarToCartesian(m.value(0), 
-                                                       m.value(1));
+    const auto& rho = m.value(0);
+    double phi = m.value(1);
+    tools::NormalizeAngle(phi);
+    const auto xy = tools::ConvertFromPolarToCartesian(rho, 
+                                                       phi);
 
     outs << xy.first << "\t"
          << xy.second << "\t";