https://github.com/thenewwazoo/markov-localizer

An implementation of 1D Markov localization for toothed wheels
https://github.com/thenewwazoo/markov-localizer

Last synced: 3 months ago
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An implementation of 1D Markov localization for toothed wheels

• Host: GitHub
• URL: https://github.com/thenewwazoo/markov-localizer
• Owner: thenewwazoo
• License: lgpl-3.0
• Created: 2016-01-10T23:01:28.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2016-05-22T01:13:57.000Z (almost 9 years ago)
• Last Synced: 2025-01-09T08:36:24.729Z (4 months ago)
• Language: C
• Size: 48.8 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        

This is a C99 implementation of 1D Markov localization in a looped world. It

was intended to be applied to a flywheel, but there's nothing about it that

makes it necessarily so.

The code was written to only use the stack. I intend to use it in an embedded

environment where dynamic/heap allocation is expensive. This means you probably

shouldn't define a world map with thousands of locations, sorry.

I have included two sets of test data:

The first is purely synthetic, and is obviously only for basic functional

testing. It simulates a 4-1 toothed wheel.

The second is a set of real data from a Microsquirt user who was having trouble

with noisy input. Do not expect the localizer to make complete sense of it.