function?[World?rob]?=?configuration（rob?sen_rf?Lmks?Wpts?AxisDim）
global?RunTime;

????%?If?you?want?to?make?any?changes?to?the?default?robot/sensor?settings
????%?then?do?that?here?-?the?changes?will?be?passed?back?into?the?main
????%?SLAM?function.
????
????%?Set?robot?at?first?waypoint
????rob.R（1:2）?=?Wpts（:1）;
????%?Orient?robot?towards?second?waypoint
????rob.R（3）?=?bearingToPoint（rob.R?Wpts（:?2））?+?rob.R（3）;
????%?Initial?pose?estimate?is?perfect
????rob.r?=?rob.R;
????
????%?These?values?are?set?by?an?engineer?to?match?the?system:
????World.Q?=?diag（rob.q?.^?2）;?????%?System?uncertainty
????World.M?=?diag（sen_rf.noise?.^?2）;?%?Measurement?uncertainty
????
????World.tend?=?RunTime;

????%?Initialise?landmarks?and?waypoints
????World.W?=?Lmks;
????World.Wpts?=?Wpts;
????
????%?Initialise?measurement?vector
????World.y?=?zeros（2size（World.W2））;

????%?Initialise?state?and?covariance?vectors
????World.x?=?zeros（numel（rob.r）+numel（World.W）?1）;????%?State?estimate
????World.P?=?zeros（numel（World.x）numel（World.x））;?????%?Covariance?matrix
????World.mapspace?=?1:numel（World.x）;??????????????????%?State?map?availability
????World.l?=?zeros（2?size（World.W2））;????????????????%?Landmark?positions

????%?Find?anad?reserve?mapspace?for?robot?pose
????World.r?=?find（World.mapspacenumel（rob.r））;
????World.mapspace（World.r）?=?0;
????World.x（World.r）?=?rob.R;?????%?Set?initial?pose?estimate?equal?to?truth
????World.P（World.r?World.r）?=?0;??%?Set?initial?pose?covariance?equal?to?0
????
????%?Initialise?historical?vectors
????World.R_hist?=?zeros（2?World.tend）;
????World.r_hist?=?zeros（2?World.tend）;
????World.Pr_hist?=?zeros（2?World.tend）;
????World.error_hist?=?zeros（1?World.tend）;
????World.scan_error_hist?=?zeros（2?World.tend）;
????World.odo_error_hist?=?zeros（2?World.tend）;
????World.turning_hist?=?zeros（1?World.tend）;
????World.weight_scan_hist?=?zeros（1?World.tend）;
????World.weight_odo_hist?=?zeros（1?World.tend）;

????%%%%%%%%%%%%%%%%%%%%%%%%%?MAPPING?SETTINGS?%%%%%%%%%%%%%%%%%%%%%%%%%%%%
????%?Map?resolution?（grid?size）
????World.map_res?=?0.5;
????%?Scan?correlation?tolerance.?This?defines?the?minimum?number?of
????%?correlations?required?for?a?scan?match?to?be?accepted
????World.scan_corr_tolerance?=?20;
????%?Descretised?grid?map?values
????World.map_vals?=?-AxisDim+World.map_res:World.map_res:AxisDim-World.map_res;
????World.gridmap?=?zeros（AxisDim?*?2?/?World.map_res?-?1）;
????World.gridmap_counter?=?ones（size（World.gridmap））?*?round（255/2）;
????World.scan_data?=?[];
????World.scan_global?=?[];
????World.scan_true?=?[];
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件??????????9??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\.gitignore

?????文件???????2058??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\3rd-party\cov2elli.m

?????文件??????10205??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\3rd-party\ginputax.m

?????文件???????2660??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\configuration.m

?????文件??????15142??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\ekfSLAM.m

?????文件???????7190??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\gridmap.tiff

?????文件??????14892??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\mapMakerGUI.fig

?????文件??????23781??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\mapMakerGUI.m

?????文件???????5540??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\Obstacle.m

?????文件???????1674??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\README.md

?????文件???????6631??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\Robot.m

?????文件????????996??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\sample-maps\map_bedroom.mat

?????文件????????674??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\sample-maps\map_corridor.mat

?????文件???????1731??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\sample-maps\map_largefloor.mat

?????文件???????1016??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\sample-maps\map_movement.mat

?????文件???????1153??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\sample-maps\map_windycorridor.mat

?????文件???????1770??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\Sensor.m

?????文件????????710??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\setup.m

?????文件????????714??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\arbitrary.mat

?????文件????????904??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\circular.mat

?????文件????????646??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\corner.mat

?????文件????????674??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\corridor.mat

?????文件???????1590??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\getSaliency.asv

?????文件???????1598??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\getSaliency.m

?????文件???????1724??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\medFilterScan.m

?????文件???????1049??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\medFilterScan.mat

?????文件????????711??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\obstacles.mat

?????文件???????8171??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\scanTest.fig

?????文件???????2486??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tests\testICP.m

?????文件?????????97??2013-12-16?07:25??卡爾曼濾波\ekf-slam-matlab-master\tools\bearingToPoint.m

............此處省略41個文件信息