Initialize Priors Function

In this quiz we will create a function that initializes priors (initial belief state for each position on the map) given landmark positions, a position standard deviation (+/- 1.0), and the assumption that our car is parked next to a landmark.

Note that the control standard deviation represents the spread from movement (movement is the result of our control input in this case). We input a control of moving 1 step but our actual movement could be in the range of 1 +/- control standard deviation. The position standard deviation is the spread in our actual position. For example, we may believe start at a particular location, but we could be anywhere in that location +/- our position standard deviation.

Start Quiz:

main.cpp

#include <iostream>
#include <algorithm>
#include <vector>

using namespace std;

//initialize priors assumimg vehicle at landmark +/- 1.0 meters position stdev
std::vector<float> initialize_priors(int map_size, std::vector<float> landmark_positions,
                                     float position_stdev);

int main() {

    //set standard deviation of position:
    float position_stdev = 1.0f;

    //set map horizon distance in meters 
    int map_size = 25;

    //initialize landmarks
    std::vector<float> landmark_positions {5, 10, 20};

    // initialize priors
    std::vector<float> priors = initialize_priors(map_size, landmark_positions,
                                                  position_stdev);
    
    //print values to stdout 
    for (unsigned int p = 0; p < priors.size(); p++) {
        std::cout << priors[p] << endl;
    }
        
    return 0;

};

//TODO: Complete the initialize_priors function
std::vector<float> initialize_priors(int map_size, std::vector<float> landmark_positions,
                                     float position_stdev) {

//initialize priors assumimg vehicle at landmark +/- 1.0 meters position stdev

    //set all priors to 0.0
    std::vector<float> priors(map_size, 0.0);
    
    //YOUR CODE HERE
    

    return priors;
}