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Discrete Kalman Filter

The project presented here consists in the implementation of a discrete Kalman filter, as done in this link.

Requirements

This project has been tested in Ubuntu (version 14.04), and needs the following dependencies: g++, eigen3 and allegro4. In order to install these dependencies in an Ubuntu machine, run the following commands in a terminal window (in this case, the terminal is opened in the folder where the project is located, e.g., project-directory):

➜  project-directory    sudo apt-get install g++
➜  project-directory    sudo apt-get install libeigen3-dev
➜  project-directory    sudo apt-get install liballegro4.2‐dev

Compilation instruction

Once that the above dependencies has been installed, the program can be compiled by means of the makefile. More precisely, it will be sufficient to run the following command in the terminal:

➜  project-directory    make

Run the program

After the compilation, the makefile can be used to run the program, as follows:

➜  project-directory    make run

Notes

  1. The program needs sudo privileges to be executed.

  2. The makefile can also be used to clean the program, in this case just run the command:

    ➜  project-directory    make clean

Further informations

For a detailed description of the project structure see the docs.