-- FastSLAM:

1) open the file 'fastslam' in matlab
2) run reduce_to_1 (without argument) => it scales the data to the window [0 1] x [0 1]
3) run data_processing(rand_seed,number_time_steps)  (the arguments are: a random seed 
	for the random generators, and the total number of time steps you want to run, 
	< 100). Ex: data_processing(45611,20). (this creates the landmarks from the laser 
	hits)
4) run fastslam(random_seed,number_particles,pause_length,plot_opt) (the arguments are: 
	a random seed for the random generator, the number of particles, the time you 
	want to see each plot, and a plot option: 0 =only final map and paths; 1= all 
	plots but without actual landscape; 2 all plots with landscape). Ex: 
	fast_slam(31211515,50,1,2)

Figures legend:
-green circle = actual position of the helicopter
-blue circle = estimated position of the helicopter
-red circles = actual positions of the rocks & trees
-red lines = observations at current time
-black crosses and circles = estimated positions of the landmarks, with uncertainties

Paths figure legend:
-green : actual path of the helicopter
-magenta : estimated path of the helicopter


-- 3D FastSLAM:

1) open the file '3Dfastslam' in matlab
2) run reduce_to_1 (without argument) => it scales the data to the window [0 1] x [0 1]
3) run data_processing(rand_seed,number_time_steps)  (the arguments are: a random seed 
	for the random generators, and the total number of time steps you want to run, 
	< 100). Ex: data_processing(45611,20). (this creates the landmarks from the laser 
	hits)
4) run fastslam(random_seed,number_particles,pause_length,plot_opt) (the arguments are: 
	a random seed for the random generator, the number of particles, the time you 
	want to see each plot, and a plot option: -1 = only final map, paths and altitude;
	0 = estimated position of the landmarks represented as dots; 1= estimated landmarks 
	uncertainties represented as circles (radii representing the uncertainties); 2 =   
	uncertainties represented as 3D crosses, whose size represent the uncertainties.
	Ex.: fast_slam(31211515,50,1,2)

NOTE on visualization:
in the function 'print_situation', at the end, the line:
view(AZ, EL);
is set as a commentary. Deleting % in front of it offers the possibility to see the plots 
from top, which may be clearer. 


Figures legend:
-green circles = actual position of the helicopter
-blue circles = estimated position of the helicopter
-red circles = actual positions of the rocks & trees
-black dots / crosses / circles = estimated positions of the landmarks, with uncertainties

Paths figure legend:
-green : actual path of the helicopter
-magenta : estimated path of the helicopter

Altitude along the path:
-green : actual helicopter altitude at each time step
-magenta : estimated helicopter altitude


