├── .gitignore ├── Hacks ├── Linux Custom Baud Hack │ ├── Python2 │ │ ├── pyserial.patch │ │ ├── serialposix_new.py │ │ └── serialposix_old.py │ └── Python3 │ │ ├── pyserial.patch │ │ ├── serialposix_new.py │ │ └── serialposix_old.py ├── Linux list_ports Hack │ └── Python3 │ │ ├── list_ports_posix_new.py │ │ ├── list_ports_posix_old.py │ │ └── listports.patch └── Seeeduino Mega Extra Pins Hack │ ├── boards_new.txt │ ├── boards_old.txt │ ├── extraPinsControl │ └── extraPinsControl.ino │ ├── mega │ └── pins_arduino.h │ ├── paths.txt │ ├── seeed │ └── pins_arduino.h │ ├── seeedmega_menuctl.patch │ └── seeedmega_pindef.patch ├── README.md ├── Robot Code └── slamBotMain │ └── slamBotMain.ino ├── SLAMBotGUI-0.2.tar.gz ├── examples ├── data_1AUG14_30m.png ├── data_1AUG14_30m_internal.png ├── data_24JUL14_14m.png ├── data_6AUG14_16m.png └── data_6AUG14_16m_noOdometry.png ├── libraries ├── Encoder │ ├── Encoder.cpp │ ├── Encoder.h │ ├── examples │ │ ├── Basic │ │ │ └── Basic.pde │ │ ├── NoInterrupts │ │ │ └── NoInterrupts.pde │ │ ├── SpeedTest │ │ │ └── SpeedTest.pde │ │ └── TwoKnobs │ │ │ └── TwoKnobs.pde │ ├── keywords.txt │ └── utility │ │ ├── direct_pin_read.h │ │ ├── interrupt_config.h │ │ └── interrupt_pins.h ├── RPLidarDriver │ ├── RPLidar.cpp │ ├── RPLidar.h │ ├── examples │ │ ├── distance_to_color │ │ │ └── distance_to_color.ino │ │ └── simple_connect │ │ │ └── simple_connect.ino │ ├── inc │ │ ├── rplidar_cmd.h │ │ ├── rplidar_protocol.h │ │ └── rptypes.h │ └── keywords.txt ├── breezyslam │ ├── LICENSE.md │ ├── README.md │ ├── c │ │ ├── coreslam.c │ │ ├── coreslam.h │ │ ├── coreslam_armv7l.c │ │ ├── coreslam_i686.c │ │ ├── coreslam_internals.h │ │ ├── coreslam_sisd.c │ │ ├── random.c │ │ ├── random.h │ │ ├── ziggurat.c │ │ └── ziggurat.h │ ├── cpp │ │ ├── BreezySLAM.hpp │ │ ├── Doxyfile │ │ ├── Laser.cpp │ │ ├── Laser.hpp │ │ ├── Makefile │ │ ├── Map.cpp │ │ ├── Map.hpp │ │ ├── Position.hpp │ │ ├── Scan.cpp │ │ ├── Scan.hpp │ │ ├── Velocities.hpp │ │ ├── WheeledRobot.cpp │ │ ├── WheeledRobot.hpp │ │ ├── algorithms.cpp │ │ └── algorithms.hpp │ ├── examples │ │ ├── Log2PGM.java │ │ ├── Makefile │ │ ├── MinesRover.m │ │ ├── exp1.dat │ │ ├── exp2.dat │ │ ├── log2pgm.cpp │ │ ├── log2pgm.py │ │ ├── log2png.py │ │ ├── logdemo.m │ │ ├── mines.py │ │ ├── pgm_utils.py │ │ └── progressbar.py │ ├── java │ │ └── edu │ │ │ └── wlu │ │ │ └── cs │ │ │ └── levy │ │ │ └── breezyslam │ │ │ ├── algorithms │ │ │ ├── CoreSLAM.java │ │ │ ├── DeterministicSLAM.java │ │ │ ├── Makefile │ │ │ ├── RMHCSLAM.java │ │ │ ├── SinglePositionSLAM.java │ │ │ └── jnibreezyslam_algorithms.c │ │ │ ├── components │ │ │ ├── Laser.java │ │ │ ├── Makefile │ │ │ ├── Map.java │ │ │ ├── Position.java │ │ │ ├── Scan.java │ │ │ ├── URG04LX.java │ │ │ ├── Velocities.java │ │ │ └── jnibreezyslam_components.c │ │ │ ├── jni_utils.h │ │ │ └── robots │ │ │ ├── Makefile │ │ │ └── WheeledRobot.java │ ├── matlab │ │ ├── CoreSLAM.m │ │ ├── Deterministic_SLAM.m │ │ ├── Map.m │ │ ├── RMHC_SLAM.m │ │ ├── Scan.m │ │ ├── SinglePositionSLAM.m │ │ ├── WheeledRobot.m │ │ ├── make.m │ │ ├── mex_breezyslam.c │ │ ├── mex_breezyslam.mexa64 │ │ ├── mex_breezyslam.mexmaci64 │ │ ├── mex_breezyslam.mexw64 │ │ └── mex_coreslam.c │ └── python │ │ ├── breezyslam │ │ ├── __init__.py │ │ ├── algorithms.py │ │ ├── components.py │ │ └── robots.py │ │ ├── build │ │ ├── c │ │ │ ├── coreslam.o │ │ │ ├── coreslam_sisd.o │ │ │ ├── random.o │ │ │ └── ziggurat.o │ │ ├── lib.linux-x86_64-2.7 │ │ │ ├── breezyslam │ │ │ │ ├── __init__.py │ │ │ │ ├── algorithms.py │ │ │ │ ├── components.py │ │ │ │ └── robots.py │ │ │ └── pybreezyslam.so │ │ └── temp.linux-x86_64-2.7 │ │ │ ├── pybreezyslam.o │ │ │ └── pyextension_utils.o │ │ ├── pybreezyslam.c │ │ ├── pyextension_utils.c │ │ ├── pyextension_utils.h │ │ └── setup.py ├── changes ├── opencv_odroid.sh └── opencv_ubuntu.sh └── slambotgui_source ├── MANIFEST ├── baseStationMain.py ├── examples ├── data_1AUG14_30m.log ├── data_24JUL14_14m.log └── 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