09. Initialize Priors Function
In this quiz we will create a function that initializes priors (initial belief state for each position on the map) given landmark positions, a position standard deviation (+/- 1.0), and the assumption that our car is parked next to a landmark.
Note that the control standard deviation represents the spread from movement (movement is the result of our control input in this case). We input a control of moving 1 step but our actual movement could be in the range of 1 +/- control standard deviation. The position standard deviation is the spread in our actual position. For example, we may believe start at a particular location, but we could be anywhere in that location +/- our position standard deviation.
Start Quiz:
#include <iostream>
#include <vector>
using std::vector;
// initialize priors assuming vehicle at landmark +/- 1.0 meters position stdev
vector<float> initialize_priors(int map_size, vector<float> landmark_positions,
float position_stdev);
int main() {
// set standard deviation of position
float position_stdev = 1.0f;
// set map horizon distance in meters
int map_size = 25;
// initialize landmarks
vector<float> landmark_positions {5, 10, 20};
// initialize priors
vector<float> priors = initialize_priors(map_size, landmark_positions,
position_stdev);
// print values to stdout
for (int p = 0; p < priors.size(); ++p) {
std::cout << priors[p] << std::endl;
}
return 0;
}
// TODO: Complete the initialize_priors function
vector<float> initialize_priors(int map_size, vector<float> landmark_positions,
float position_stdev) {
// initialize priors assuming vehicle at landmark +/- 1.0 meters position stdev
// set all priors to 0.0
vector<float> priors(map_size, 0.0);
// TODO: YOUR CODE HERE
return priors;
}