Hello!
To run for submission B, run the following command from directory HW0/:
python run.py
Plots for questions 2, 3, 6, 7, and 8 will populate in plots/, and data (ds0) is located in data/.
Additionally, measurements for question 6 will be printed to the terminal.
JSON files with metrics will also populate in metrics/
I've commented the commands for the extra plots I used in the report. This includes my plots for the augmented UKF comparison, EKF, and particle filter. These will increase run time because I didn't have time to optimize this code, but if you want to run them you can go to main() and uncomment the following lines:
694 # aug()
695 # study_comp()
696 # all_filters()
Adding these three lines will bring the run time from about 3-5 minutes to about 30 minutes.
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run.py: (From top to bottom) First are functions used to evaluate filter performance and compare trajectories. Next are the motion and measurement model. Next are helper functions for plotting and test trajectory generation. Next are separate functions for each question associated with a plot or data. Finally, the main function.
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filters.py: Contains all filters implemented.
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data/ : Contains ds0
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metrics/ : Contains JSON files with trajectory evaluation results, when compared to ground truth trajectory.
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plots/ : Contains all figures used in report.