This code runs under Matlab 7 (R14).  The Image Processing
Toolbox is required if you want to use the bitmap output option.

Matlab setup:

   You must add the data_structures directory to your Matlab path
   so that Matlab can find the tree and pointer packages.

   The pointer library has been built for Linux and Windows XP.
   If you need to run it on a different system, see the
   documentation in the zipped pointer package in the 3rd party
   software folder.

Input file generation

   Change to the data subdirectory and run these commands
   (replacing seed with any integer and num_steps with the
   maximum number of steps you wish to simulate):

     reduce_to_1;
     data_processing(seed, num_steps);

DP-SLAM simulation:

   Change back to this directory and run a command like this:

     dp_slam(seed, num_particles, num_steps, plot_option);

   Where seed = any integer
         num_particles = number of particles to simulate
                         (practical values between 5 and 20)
         num_steps = number of steps to execute (but cannot do
                     more than the number of steps you supplied
                     in the call to data_processing)
         plot_option = desired output (see dp_slam.m for options)
                       recommended value = 4

