We have provided you with new world1.mat and world2.mat files,
which contain intermediate results for our forward inference code.
Loading the new world files, will define new true beliefs GOOD_FI_ROBOT_BELIEF_2,
GOOD_LANDMARK_BELIEFS_2, GOOD_FI_ROBOT_BELIEF_5, GOOD_LANDMARK_BELIEFS_5,
which were generated as follows:
[GOOD_FI_ROBOT_BELIEF_2 GOOD_FI_LANDMARK_BELIEFS_2] = ...
ForwardInference(N,K,2,ROBOT_BELIEF_0, ...
LANDMARK_BELIEFS_0,HEADING, OBSERVATION, ...
CONDITIONAL_SENSORS, ...
TRANSITION_MODELS);
[GOOD_FI_ROBOT_BELIEF_5 GOOD_FI_LANDMARK_BELIEFS_5] = ...
ForwardInference(N,K,5,ROBOT_BELIEF_0, ...
LANDMARK_BELIEFS_0,HEADING, OBSERVATION, ...
CONDITIONAL_SENSORS, ...
TRANSITION_MODELS);
You can use these to debug your Forward Inference (and Robot/Landmark belief update) codes.