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-rw-r--r--SD-VBS/benchmarks/localization/Makefile3
-rwxr-xr-xSD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt11598
-rwxr-xr-xSD-VBS/benchmarks/localization/data/GroundData/log1_sensor.txt127357
-rwxr-xr-xSD-VBS/benchmarks/localization/data/GroundData/log1_sensor_sort.txt127357
-rw-r--r--SD-VBS/benchmarks/localization/data/Makefile3
-rw-r--r--SD-VBS/benchmarks/localization/data/cif/1.txt89
-rw-r--r--SD-VBS/benchmarks/localization/data/cif/12345.txt15
-rw-r--r--SD-VBS/benchmarks/localization/data/cif/Makefile7
-rwxr-xr-xSD-VBS/benchmarks/localization/data/cif/VBS_Ver1bin0 -> 99419 bytes
-rwxr-xr-xSD-VBS/benchmarks/localization/data/cif/cifbin0 -> 99219 bytes
-rw-r--r--SD-VBS/benchmarks/localization/data/cif/expected.m3
-rw-r--r--SD-VBS/benchmarks/localization/data/cif/expected_C.txt3
-rw-r--r--SD-VBS/benchmarks/localization/data/qcif/1.txt89
-rw-r--r--SD-VBS/benchmarks/localization/data/qcif/Makefile8
-rw-r--r--SD-VBS/benchmarks/localization/data/qcif/expected.m3
-rw-r--r--SD-VBS/benchmarks/localization/data/qcif/expected_C.txt3
-rw-r--r--SD-VBS/benchmarks/localization/data/sim/1.txt89
-rw-r--r--SD-VBS/benchmarks/localization/data/sim/2.txt4077
-rw-r--r--SD-VBS/benchmarks/localization/data/sim/Makefile8
-rw-r--r--SD-VBS/benchmarks/localization/data/sim/expected.m3
-rw-r--r--SD-VBS/benchmarks/localization/data/sim/expected_C.txt3
-rw-r--r--SD-VBS/benchmarks/localization/data/sim_fast/1.txt26
-rw-r--r--SD-VBS/benchmarks/localization/data/sim_fast/2.txt203
-rw-r--r--SD-VBS/benchmarks/localization/data/sim_fast/Makefile8
-rw-r--r--SD-VBS/benchmarks/localization/data/sim_fast/expected.m3
-rw-r--r--SD-VBS/benchmarks/localization/data/sim_fast/expected_C.txt3
-rw-r--r--SD-VBS/benchmarks/localization/data/sqcif/1.txt7
-rw-r--r--SD-VBS/benchmarks/localization/data/sqcif/Makefile8
-rw-r--r--SD-VBS/benchmarks/localization/data/sqcif/expected.m3
-rw-r--r--SD-VBS/benchmarks/localization/data/sqcif/expected_C.txt3
-rw-r--r--SD-VBS/benchmarks/localization/data/test/1.txt7
-rw-r--r--SD-VBS/benchmarks/localization/data/test/Makefile8
-rw-r--r--SD-VBS/benchmarks/localization/data/test/expected.m3
-rw-r--r--SD-VBS/benchmarks/localization/data/test/expected_C.txt3
-rw-r--r--SD-VBS/benchmarks/localization/data/vga/1.txt89
-rw-r--r--SD-VBS/benchmarks/localization/data/vga/12345.txt5
-rw-r--r--SD-VBS/benchmarks/localization/data/vga/Makefile7
-rw-r--r--SD-VBS/benchmarks/localization/data/vga/expected.m3
-rw-r--r--SD-VBS/benchmarks/localization/data/vga/expected_C.txt3
-rwxr-xr-xSD-VBS/benchmarks/localization/result/log1_whist.txtbin0 -> 228 bytes
-rw-r--r--SD-VBS/benchmarks/localization/src/c/eul2quat.c50
-rw-r--r--SD-VBS/benchmarks/localization/src/c/generateSample.c88
-rw-r--r--SD-VBS/benchmarks/localization/src/c/get3DGaussianProb.c49
-rw-r--r--SD-VBS/benchmarks/localization/src/c/input.txt8
-rw-r--r--SD-VBS/benchmarks/localization/src/c/localization.h24
-rw-r--r--SD-VBS/benchmarks/localization/src/c/mcl.c34
-rw-r--r--SD-VBS/benchmarks/localization/src/c/quat2eul.c47
-rw-r--r--SD-VBS/benchmarks/localization/src/c/quatConj.c32
-rw-r--r--SD-VBS/benchmarks/localization/src/c/quatMul.c55
-rw-r--r--SD-VBS/benchmarks/localization/src/c/quatRot.c47
-rw-r--r--SD-VBS/benchmarks/localization/src/c/readSensorData.c63
-rw-r--r--SD-VBS/benchmarks/localization/src/c/script_localization.c534
-rw-r--r--SD-VBS/benchmarks/localization/src/c/weightedSample.c37
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/addEulNoise.m12
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/calculate3DGaussian.m11
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/drawLog.m44
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/eul2quat.m9
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/generateSample.m25
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/get3DGaussianProb.m22
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/getGroundData.m5
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/mcl.m9
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/mclWhole.m18
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/quat2eul.m6
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/quatConj.m5
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/quatMul.m18
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/quatRot.m24
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/readLoc.m53
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/readMatrix.m28
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/readSensorData.m46
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/script_run_profile.m209
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/selfCheck.m33
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/sumCol.m14
-rw-r--r--SD-VBS/benchmarks/localization/src/matlab/weightedSample.m20
73 files changed, 272789 insertions, 0 deletions
diff --git a/SD-VBS/benchmarks/localization/Makefile b/SD-VBS/benchmarks/localization/Makefile
new file mode 100644
index 0000000..60cc0ec
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/Makefile
@@ -0,0 +1,3 @@
1include ../../common/makefiles/Makefile.include
2include $(MAKEFILE_COMMON_DIR)/Makefile.recurse
3
diff --git a/SD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt b/SD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt
new file mode 100755
index 0000000..b14576a
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/data/GroundData/log1_pose.txt
@@ -0,0 +1,11598 @@
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31116844391.627188 -0.000622 0.002630 1.934604 4422625.792709 483672.630756 -33.995673
41116844391.677171 0.000059 0.003221 1.824546 4422625.792709 483672.630756 -33.995673
51116844391.727197 -0.000313 0.003639 1.830604 4422625.792709 483672.630756 -33.995673
61116844391.777182 0.000393 0.004790 1.739825 4422625.792709 483672.630756 -33.995673
71116844391.827188 0.000948 0.004988 1.643562 4422625.792709 483672.630756 -33.995673
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91116844391.927194 0.001852 0.005653 1.359098 4422625.792709 483672.630756 -33.995673
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111116844392.027175 -0.000426 0.006716 1.827708 4422625.792709 483672.630756 -33.995673
121116844392.077171 -0.003659 0.005830 2.384925 4422625.792709 483672.630756 -33.995673
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251116844392.777241 -0.005582 0.013657 2.248963 4422625.832853 483672.594586 -33.995010
261116844392.827182 -0.007065 0.013569 2.324012 4422625.832853 483672.594586 -33.995010
271116844392.877175 -0.006229 0.014770 2.273278 4422625.832853 483672.594586 -33.995010
281116844392.927192 -0.006734 0.014917 2.292420 4422625.832853 483672.594586 -33.995010
291116844392.977341 -0.007620 0.015078 2.336955 4422625.832853 483672.594586 -33.995010
301116844393.027177 -0.008346 0.015023 2.361104 4422625.832853 483672.594586 -33.995010
311116844393.077182 -0.009223 0.015303 2.393396 4422625.832853 483672.594586 -33.995010
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371116844393.377209 -0.010519 0.018972 2.343713 4422625.832853 483672.594586 -33.995010
381116844393.427175 -0.011177 0.019038 2.373834 4422625.832853 483672.594586 -33.995010
391116844393.527213 -0.013236 0.018770 2.433140 4422625.876835 483672.566446 -33.993900
401116844393.577192 -0.012969 0.018908 2.402878 4422625.876835 483672.566446 -33.993900
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441116