Unscentedkalman

This code implements an unscented Kaman filter.

Instructions to test this code:

This code was developed and tested using Xcode 8.1 on MacOS Sierra version 10.12.1

CMAKE version 3.6.1 was used to test for generic compilation.

CMakeLists.txt have been created at the top level: Unscentedkalmanproject1

Another CMakeLists.tx resides in subdirectory /src and another one in subdirectory /data.

Two data files are provided with the executable in subdirectory data.

The input data and output data have to be provided as argument to the Main function in the command line

when executing.

If the compilation is done using CMAKE and Xcode then you need to configure xcode KalmanProject.xcodeproj

as follow after CMake has run:

(1) Edit scheme in Xcode KalmanProject.xcodeproj and add the two arguments filename passed on launch to

the main.c function

(2) Tell Xcode where the two input data files are located:

   go to the "build phases" of the executable and add "copy files"
   select as destination: "resources".
   click on "+"" and select "add other" then browse and select the two input data files

Change directory to the location of the executable (this path is for compilation using xcode):

cd UnscentedKalman/build/src/Debug/

launch the executable

./UnscentedKalmanProject sample-laser-radar-measurement-data-1.txt output.txt