Lab 3 Report
Cary Yang (caryy), Jeff Chen (jchen4)

Part 3:

  4. The updated pose is a little off from the actual pose.

Part 4:

  3. The robot's translational odometry is quite accurate.
  4. The first time the robot turned, it was more than 5 degrees off from its original
     heading, but the second time we ran it, it ended up almost exactly at the original heading.

Part 5:

  The data for the five runs are below:

    Agent now at a:[-19.8268, -53.6082, 0] hdg 0.13287 (= 7.6129 deg.)  std. dev. 23.488 mm, 2.57045 deg.
    The estimated headings match very well with the actual heading. The estimated positions range 100mm in X direction, 50mm in Y direction.

    Agent now at a:[2.41886, -63.6474, 0] hdg 0.147113 (= 8.42895 deg.)  std. dev. 22.1604 mm, 2.4864 deg.
    Headings match well, position range 75mm in both directions

    Agent now at a:[-17.1745, -69.5323, 0] hdg 0.167029 (= 9.57008 deg.)  std. dev. 22.7648 mm, 2.51132 deg.
    Headings match well, positions range 100mm in X direction, 50mm in Y direction.

    Agent now at a:[-5.42967, -55.4982, 0] hdg 0.144862 (= 8.29999 deg.)  std. dev. 22.7105 mm, 2.51577 deg.
    Headings match well, positions range 125mm in X direction, 50mm in Y direction.

    Agent now at a:[-20.7127, -44.124, 0] hdg 0.171565 (= 9.82995 deg.)  std. dev. 23.5007 mm, 2.63413 deg.
    Headings match well, positions range 100mm in X direction, 50mm in Y direction.

  This results in a mean x, y, and z of [-12.145, -57.282, 0] respectively and a standard deviation x, y, and z
  of [10.1847, 9.75192, 0] respectively.

Data for the last part:

   |               Before              |               After               |             Delta            |
   --------------------------------------------------------------------------------------------------------
   |     x     |     y     |  heading  |     x     |     y     |  heading  |   dx   |   dy    |  heading  |
   ========================================================================================================
   | -397.296  |   44.7973 | 0.0380838 | -424.951  |  -27.4573 | 0.0577807 | 27.655 | 72.2550 | 0.0196969 |
   | -380.275  | -390.511  | 0.435294  | -439.846  | -360.916  | 0.424845  | 59.571 | 29.595  | 0.010449  |
   | -582.496  |  -30.726  | 0.0872529 | -533.404  |  -86.3634 | 0.0762547 | 49.092 | 55.637  | 0.0109982 |
   | -491.301  |  -63.0846 | 0.103115  | -486.434  | -106.616  | 0.113695  |  4.867 | 43.5314 | 0.010580  |
   | -457.451  |   13.5766 | 0.0594227 | -483.693  |  -36.9758 | 0.105796  | 26.242 | 50.5524 | 0.046373  |