create a map and trajectory (not rand)

matlab/create_landmarks.m

@@ -0,0 +1,16 @@
+% Christian Potthast
+% Create a map with random landmarks
+
+function map = create_random_landmarks(visibilityTh, mappingArea, steps)
+map=[];
+points1=1:visibilityTh:mappingArea(1);
+points2=1:visibilityTh:mappingArea(2);
+ for i=1:size(points1,2)
+  map=[map,[points1(1,i)-steps;points2(1,i)],[points1(1,i);points2(1,i)-steps]];
+ end
+
+% for i=1:size(points1,2)
+%     for j=1:size(points2,2)
+%     map=[map,[points1(1,i);points2(1,j)]];
+%     end
+% end

matlab/walk.m

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+% Christian Potthast
+% random walk from a robot
+
+function pose = walk(initial, velocity, steps)
+
+pose(:,1) = initial;
+bearing = 0.7854; % 45?
+
+
+for step = 2:steps
+    
+    %bearing =  bearing + 0.05;
+    
+    pose(1,step) = pose(1,step-1) + sin(bearing) * velocity;
+    pose(2,step) = pose(2,step-1) + cos(bearing) * velocity;
+    
+end
+
+
+