Maltab: Modified MCL parameters

Robot doesn't lost so often.
Added a problematic path, where robot is always lost. I guess
that the new resampling function should help here.

diff --git a/src/mcl/matlab/path-always-lost.mat b/src/mcl/matlab/path-always-lost.mat
new file mode 100644 (file)
index 0000000..7d4e29d
Binary files /dev/null and b/src/mcl/matlab/path-always-lost.mat differ

diff --git a/src/mcl/matlab/reg_mcl.mdl b/src/mcl/matlab/reg_mcl.mdl
index 22e3bfca77ed0057fc84985948044951ed609bef..15b12fea12e026d6ab350a61b9bfc8d8c8984c79 100644 (file)
--- a/src/mcl/matlab/reg_mcl.mdl
+++ b/src/mcl/matlab/reg_mcl.mdl
@@ -6,7 +6,7 @@ Model {
     NumRootInports         0
     NumRootOutports        0
     ParameterArgumentNames  ""
-    ComputedModelVersion    "1.260"
+    ComputedModelVersion    "1.261"
     NumModelReferences     0
     NumTestPointedSignals   0
   }
@@ -48,8 +48,8 @@ Model {
   ModifiedByFormat       "%<Auto>"
   LastModifiedBy         "wsh"
   ModifiedDateFormat     "%<Auto>"
-  LastModifiedDate       "Fri Apr 25 08:39:02 2008"
-  ModelVersionFormat     "1.%<AutoIncrement:260>"
+  LastModifiedDate       "Fri Apr 25 10:52:54 2008"
+  ModelVersionFormat     "1.%<AutoIncrement:261>"
   ConfigurationManager   "None"
   SimulationMode         "normal"
   LinearizationMsg       "none"
@@ -952,7 +952,7 @@ Model {
          Ports                   [1]
          Position                [410, 49, 440, 81]
          Floating                off
-         Location                [441, 56, 1084, 453]
+         Location                [431, 91, 1074, 488]
          Open                    on
          NumInputPorts           "1"
          ZoomMode                "xonly"
@@ -1117,7 +1117,7 @@ Model {
       MaskIconOpaque         on
       MaskIconRotate         "none"
       MaskIconUnits          "autoscale"
-      MaskValueString        "3000|0.01|2/180*pi|5/180*pi"
+      MaskValueString        "3000|0.01|10/180*pi|5/180*pi"
       MaskTabNameString              ",,,"
     }
     Block {
@@ -1837,14 +1837,13 @@ Model {
          DstPort                 2
        }
        Branch {
-         Points                  [0, 100]
+         Points                  [0, 110]
          Branch {
-           Points                  [0, 110]
+           Points                  [0, 100]
            DstBlock                "Rate Transition"
            DstPort                 1
          }
          Branch {
-           Points                  [95, 0]
            DstBlock                "Pos to deltas"
            DstPort                 1
          }