Update main branch for use of simulator

CMakeLists.txt

@@ -1,35 +1,28 @@
-cmake_minimum_required(VERSION 2.8.11)
 project(PARTICLE_FILTER)
 
+cmake_minimum_required (VERSION 3.5)
 
-# Build the particle filter project and solution.
-# Use C++11
-set(SRCS src/main.cpp src/particle_filter.cpp)
-set_source_files_properties(${SRCS} PROPERTIES COMPILE_FLAGS -std=c++0x)
+add_definitions(-std=c++11)
 
-# Create the executable
-add_executable(particle_filter ${SRCS})
+set(CXX_FLAGS "-Wall")
+set(CMAKE_CXX_FLAGS "${CXX_FLAGS}")
 
-# Use C++11
-#if [ ! -f ./src/particle_filter_sol.cpp]; then
-#	echo "No solution file."
-#else
-#	echo "Solution file exists"
-#fi
-
-if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/src/particle_filter_sol.cpp")
-	set(SRCS src/main.cpp src/particle_filter_sol.cpp)
-	set_source_files_properties(${SRCS} PROPERTIES COMPILE_FLAGS -std=c++0x)
-
-	# Create the executable
-	add_executable(particle_filter_solution ${SRCS})
-endif()
+set(sources src/particle_filter.cpp src/main.cpp)
 
 
+if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") 
 
+include_directories(/usr/local/include)
+include_directories(/usr/local/opt/openssl/include)
+link_directories(/usr/local/lib)
+link_directories(/usr/local/opt/openssl/lib)
+link_directories(/usr/local/Cellar/libuv/1*/lib)
 
+endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin") 
 
 
+add_executable(particle_filter ${sources})
 
 
+target_link_libraries(particle_filter z ssl uv uWS)
 

README.md

@@ -23,36 +23,24 @@ Once you have this repository on your machine, cd into the repository's root dir
 > ./build.sh
 > ./run.sh
 ```
+This will then run in conjunction with the Term 2 simulator.
 
-> **NOTE**
-> If you get any `command not found` problems, you will have to install 
-> the associated dependencies (for example, 
-> [cmake](https://cmake.org/install/))
-
-If everything worked you should see something like the following output:
-
-```
-Time step: 2444
-Cumulative mean weighted error: x .1 y .1 yaw .02
-Runtime (sec): 38.187226
-Success! Your particle filter passed!
-```
 ## Results
 ### Performance
-The particle filter met the requirements, which were 1 meter in error for x and y translations, 0.05 rad in error for yaw, and 45 seconds of runtime for the particle filter. Please note that due to the random numbers generated in certain portions of my approach (for the Gaussian distributions), results may vary slightly. Error below is cumulative mean weighted error.
+The particle filter met the requirements, which were 1 meter in error for x and y translations, 0.05 rad in error for yaw, and 100 seconds of runtime for the particle filter. Please note that due to the random numbers generated in certain portions of my approach (for the Gaussian distributions), results may vary slightly. Error below is cumulative mean weighted error.
 
 **Using: 100 particles**
 
-Runtime: 17.219 seconds
+Runtime: 17.219 seconds (based on old project version)
 
 | Estim |  Error  |
 | ----- | ------- |
-|   x   | 0.11012 | (m)
-|   y   | 0.10526 | (m)
-|  yaw  | 0.00374 | (rad)
+|   x   | 0.113 | (m)
+|   y   | 0.105 | (m)
+|  yaw  | 0.004 | (rad)
 
 ### Visualizing the Car's Localization based on Landmark Observations
-The green lines below are the car's observations of surrounding landmarks. Please see separate visualizer branch in this repository for code necessary to reproduce these results in Udacity's simulator.
+The green lines below are the car's observations of surrounding landmarks.
 ![Localizing](Localizing_screen.png)
 
 

build/CMakeCache.txt

@@ -1,6 +1,6 @@
 # This is the CMakeCache file.
-# For build in directory: /Users/apple/Desktop/Kidnapped-Vehicle-Project/build
-# It was generated by CMake: /usr/local/Cellar/cmake/3.8.1/bin/cmake
+# For build in directory: /Users/mvirgo/Kidnapped-Vehicle-Project/build
+# It was generated by CMake: /usr/local/Cellar/cmake/3.10.2/bin/cmake
 # You can edit this file to change values found and used by cmake.
 # If you do not want to change any of the values, simply exit the editor.
 # If you do want to change a value, simply edit, save, and exit the editor.
@@ -15,7 +15,7 @@
 ########################
 
 //Path to a program.
-CMAKE_AR:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/ar
+CMAKE_AR:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ar
 
 //Choose the type of build, options are: None(CMAKE_CXX_FLAGS or
 // CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel.
@@ -25,7 +25,7 @@ CMAKE_BUILD_TYPE:STRING=
 CMAKE_COLOR_MAKEFILE:BOOL=ON
 
 //CXX compiler
-CMAKE_CXX_COMPILER:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/c++
+CMAKE_CXX_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++
 
 //Flags used by the compiler during all build types.
 CMAKE_CXX_FLAGS:STRING=
@@ -44,7 +44,7 @@ CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
 CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
 
 //C compiler
-CMAKE_C_COMPILER:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/cc
+CMAKE_C_COMPILER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc
 
 //Flags used by the compiler during all build types.
 CMAKE_C_FLAGS:STRING=
@@ -87,7 +87,7 @@ CMAKE_INSTALL_NAME_TOOL:FILEPATH=/usr/bin/install_name_tool
 CMAKE_INSTALL_PREFIX:PATH=/usr/local
 
 //Path to a program.
-CMAKE_LINKER:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/ld
+CMAKE_LINKER:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld
 
 //Path to a program.
 CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
@@ -108,13 +108,13 @@ CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
 CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
 
 //Path to a program.
-CMAKE_NM:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/nm
+CMAKE_NM:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/nm
 
 //Path to a program.
 CMAKE_OBJCOPY:FILEPATH=CMAKE_OBJCOPY-NOTFOUND
 
 //Path to a program.
-CMAKE_OBJDUMP:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/objdump
+CMAKE_OBJDUMP:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/objdump
 
 //Build architectures for OSX
 CMAKE_OSX_ARCHITECTURES:STRING=
@@ -131,7 +131,7 @@ CMAKE_OSX_SYSROOT:STRING=
 CMAKE_PROJECT_NAME:STATIC=PARTICLE_FILTER
 
 //Path to a program.
-CMAKE_RANLIB:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/ranlib
+CMAKE_RANLIB:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib
 
 //Flags used by the linker during the creation of dll's.
 CMAKE_SHARED_LINKER_FLAGS:STRING=
@@ -171,7 +171,7 @@ CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
 CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
 
 //Path to a program.
-CMAKE_STRIP:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/strip
+CMAKE_STRIP:FILEPATH=/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/strip
 
 //If this value is on, makefiles will be generated without the
 // .SILENT directive, and all commands will be echoed to the console
@@ -180,10 +180,10 @@ CMAKE_STRIP:FILEPATH=/Library/Developer/CommandLineTools/usr/bin/strip
 CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
 
 //Value Computed by CMake
-PARTICLE_FILTER_BINARY_DIR:STATIC=/Users/apple/Desktop/Kidnapped-Vehicle-Project/build
+PARTICLE_FILTER_BINARY_DIR:STATIC=/Users/mvirgo/Kidnapped-Vehicle-Project/build
 
 //Value Computed by CMake
-PARTICLE_FILTER_SOURCE_DIR:STATIC=/Users/apple/Desktop/Kidnapped-Vehicle-Project
+PARTICLE_FILTER_SOURCE_DIR:STATIC=/Users/mvirgo/Kidnapped-Vehicle-Project
 
 
 ########################
@@ -193,21 +193,21 @@ PARTICLE_FILTER_SOURCE_DIR:STATIC=/Users/apple/Desktop/Kidnapped-Vehicle-Project
 //ADVANCED property for variable: CMAKE_AR
 CMAKE_AR-ADVANCED:INTERNAL=1
 //This is the directory where this CMakeCache.txt was created
-CMAKE_CACHEFILE_DIR:INTERNAL=/Users/apple/Desktop/Kidnapped-Vehicle-Project/build
+CMAKE_CACHEFILE_DIR:INTERNAL=/Users/mvirgo/Kidnapped-Vehicle-Project/build
 //Major version of cmake used to create the current loaded cache
 CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
 //Minor version of cmake used to create the current loaded cache
-CMAKE_CACHE_MINOR_VERSION:INTERNAL=8
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=10
 //Patch version of cmake used to create the current loaded cache
-CMAKE_CACHE_PATCH_VERSION:INTERNAL=1
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=2
 //ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
 CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
 //Path to CMake executable.
-CMAKE_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.8.1/bin/cmake
+CMAKE_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.10.2/bin/cmake
 //Path to cpack program executable.
-CMAKE_CPACK_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.8.1/bin/cpack
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.10.2/bin/cpack
 //Path to ctest program executable.
-CMAKE_CTEST_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.8.1/bin/ctest
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.10.2/bin/ctest
 //ADVANCED property for variable: CMAKE_CXX_COMPILER
 CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_CXX_FLAGS
@@ -233,7 +233,7 @@ CMAKE_C_FLAGS_RELEASE-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_C_FLAGS_RELWITHDEBINFO
 CMAKE_C_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
 //Path to cache edit program executable.
-CMAKE_EDIT_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.8.1/bin/ccmake
+CMAKE_EDIT_COMMAND:INTERNAL=/usr/local/Cellar/cmake/3.10.2/bin/ccmake
 //Executable file format
 CMAKE_EXECUTABLE_FORMAT:INTERNAL=Unknown
 //ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
@@ -258,7 +258,7 @@ CMAKE_GENERATOR_PLATFORM:INTERNAL=
 CMAKE_GENERATOR_TOOLSET:INTERNAL=
 //Source directory with the top level CMakeLists.txt file for this
 // project
-CMAKE_HOME_DIRECTORY:INTERNAL=/Users/apple/Desktop/Kidnapped-Vehicle-Project
+CMAKE_HOME_DIRECTORY:INTERNAL=/Users/mvirgo/Kidnapped-Vehicle-Project
 //ADVANCED property for variable: CMAKE_INSTALL_NAME_TOOL
 CMAKE_INSTALL_NAME_TOOL-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_LINKER
@@ -288,7 +288,7 @@ CMAKE_PLATFORM_INFO_INITIALIZED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_RANLIB
 CMAKE_RANLIB-ADVANCED:INTERNAL=1
 //Path to CMake installation.
-CMAKE_ROOT:INTERNAL=/usr/local/Cellar/cmake/3.8.1/share/cmake
+CMAKE_ROOT:INTERNAL=/usr/local/Cellar/cmake/3.10.2/share/cmake
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS
 CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
 //ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG

build/CMakeFiles/3.8.1/CMakeCCompiler.cmake → build/CMakeFiles/3.10.2/CMakeCCompiler.cmake

@@ -1,7 +1,8 @@
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+set(CMAKE_C_COMPILER "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/cc")
 set(CMAKE_C_COMPILER_ARG1 "")
 set(CMAKE_C_COMPILER_ID "AppleClang")
-set(CMAKE_C_COMPILER_VERSION "8.1.0.8020042")
+set(CMAKE_C_COMPILER_VERSION "9.0.0.9000039")
+set(CMAKE_C_COMPILER_VERSION_INTERNAL "")
 set(CMAKE_C_COMPILER_WRAPPER "")
 set(CMAKE_C_STANDARD_COMPUTED_DEFAULT "11")
 set(CMAKE_C_COMPILE_FEATURES "c_std_90;c_function_prototypes;c_std_99;c_restrict;c_variadic_macros;c_std_11;c_static_assert")
@@ -13,9 +14,13 @@ set(CMAKE_C_PLATFORM_ID "Darwin")
 set(CMAKE_C_SIMULATE_ID "")
 set(CMAKE_C_SIMULATE_VERSION "")
 
-set(CMAKE_AR "/Library/Developer/CommandLineTools/usr/bin/ar")
-set(CMAKE_RANLIB "/Library/Developer/CommandLineTools/usr/bin/ranlib")
-set(CMAKE_LINKER "/Library/Developer/CommandLineTools/usr/bin/ld")
+
+
+set(CMAKE_AR "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ar")
+set(CMAKE_C_COMPILER_AR "")
+set(CMAKE_RANLIB "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib")
+set(CMAKE_C_COMPILER_RANLIB "")
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build/CMakeFiles/3.8.1/CMakeCXXCompiler.cmake → build/CMakeFiles/3.10.2/CMakeCXXCompiler.cmake

@@ -1,7 +1,8 @@
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+set(CMAKE_CXX_COMPILER "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++")
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@@ -14,9 +15,13 @@ set(CMAKE_CXX_PLATFORM_ID "Darwin")
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-set(CMAKE_AR "/Library/Developer/CommandLineTools/usr/bin/ar")
-set(CMAKE_RANLIB "/Library/Developer/CommandLineTools/usr/bin/ranlib")
-set(CMAKE_LINKER "/Library/Developer/CommandLineTools/usr/bin/ld")
+
+
+set(CMAKE_AR "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ar")
+set(CMAKE_CXX_COMPILER_AR "")
+set(CMAKE_RANLIB "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ranlib")
+set(CMAKE_CXX_COMPILER_RANLIB "")
+set(CMAKE_LINKER "/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/ld")
 set(CMAKE_COMPILER_IS_GNUCXX )
 set(CMAKE_CXX_COMPILER_LOADED 1)
 set(CMAKE_CXX_COMPILER_WORKS TRUE)

build/CMakeFiles/3.8.1/CMakeSystem.cmake → build/CMakeFiles/3.10.2/CMakeSystem.cmake

@@ -1,13 +1,13 @@
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 set(CMAKE_HOST_SYSTEM_NAME "Darwin")
-set(CMAKE_HOST_SYSTEM_VERSION "16.5.0")
+set(CMAKE_HOST_SYSTEM_VERSION "16.7.0")
 set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
 
 
 
-set(CMAKE_SYSTEM "Darwin-16.5.0")
+set(CMAKE_SYSTEM "Darwin-16.7.0")
 set(CMAKE_SYSTEM_NAME "Darwin")
-set(CMAKE_SYSTEM_VERSION "16.5.0")
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build/CMakeFiles/3.8.1/CompilerIdC/CMakeCCompilerId.c → build/CMakeFiles/3.10.2/CompilerIdC/CMakeCCompilerId.c

@@ -223,8 +223,14 @@
 # define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
 #endif
 
-#elif defined(__IAR_SYSTEMS_ICC__ ) || defined(__IAR_SYSTEMS_ICC)
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
 # define COMPILER_ID "IAR"
+# if defined(__VER__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
 
 #elif defined(__ARMCC_VERSION)
 # define COMPILER_ID "ARMCC"
@@ -415,6 +421,9 @@ char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
 # elif defined(_M_IX86)
 #  define ARCHITECTURE_ID "X86"
 
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
 # elif defined(_M_ARM)
 #  if _M_ARM == 4
 #   define ARCHITECTURE_ID "ARMV4I"
@@ -445,6 +454,16 @@ char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
 #  define ARCHITECTURE_ID ""
 # endif
 
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
 #else
 #  define ARCHITECTURE_ID
 #endif
@@ -489,6 +508,15 @@ char const info_version[] = {
   ']','\0'};
 #endif
 
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
 /* Construct a string literal encoding the version number components. */
 #ifdef SIMULATE_VERSION_MAJOR
 char const info_simulate_version[] = {
@@ -551,6 +579,9 @@ int main(int argc, char* argv[])
 #ifdef COMPILER_VERSION_MAJOR
   require += info_version[argc];
 #endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
 #ifdef SIMULATE_ID
   require += info_simulate[argc];
 #endif