ahracho / carnd-kidnapped-vehicle-project

Kidnapped Vehicle Project

Overview

This repository is for the project of Udacity Nanodegree - Self-driving Car Engineer : Kidnapped Vehicle Proejct. It is forked from https://github.com/udacity/CarND-Kidnapped-Vehicle-Project).

The goals / steps of this project are the following:

• Understand how Particle Filter works in Localization
• Implement Particle Filter in C++

Environment Setting

I used Bash on Windows 10 for code complie.

• C++ compile dependency / run install-ubuntu.sh

sudo apt-get update
sudo apt-get install git libuv1-dev libssl-dev gcc g++ cmake make
git clone https://github.com/uWebSockets/uWebSockets 
cd uWebSockets
git checkout e94b6e1
mkdir build
cd build
cmake ..
make 
sudo make install
cd ../..
sudo ln -s /usr/lib64/libuWS.so /usr/lib/libuWS.so
sudo rm -r uWebSockets

• code compile

cd CarND-Kidnapped-Vehicle-Project
cd build
cmake ..
make
./particle_filter

File Structure

• main.cpp - communicates with the Simulator receiving data measurements, calls a functions for particle filter
• particle_filter.cpp - initializes the particles, calls the predict function and calls the updateWeight function
• helper_function.h - functions for easy calculation