Ekf slam simplification #78
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Updating latest changes to main project
A holdover from when I messed up the original pull request. Cleaning up while I'm passing through...
Some were finding the Fi matrix multiplication confusion and not helpful in understanding the solution
The '2' version of the linearized measurement model was kept by accident when the two versions were merged. Cleaning up.
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I was speaking with a classmate this evening who was having problems understanding what was going on in the measurement linearization function. After an attempt to explain it using the magic of the Identity matrix, I realized the current solution was still overly complex.
This version gets rid of the intermediate Fi matrix and directly inserts the linearized measurements into an Ht of the correct size.
I also took the opportunity to get rid of the extra copy of range_bearing_meas... and the '2' that was hanging around in ekf_slam.m