Smart search history command in linux bash

Well, many people knows the up key can search the similar command in matlab terminal. But in linux (Ubuntu), if you work on terminal and want to try this, then nothing happen. If you want it search command history automaticly, you need do:

edit \etc\inputrc
uncomment next part:

# alternate mappings for "page up" and "page down" to search the history
"\e[5~": history-search-backward
"\e[6~": history-search-forward


Now you can use page up and down to search command history. Is that cool? eh.....

Visual EKF_slam on volksrobot

The new dataset comes from our group's new lab. It still is a closed path. I used joystick control the robot. From the result, we can see, EKF slam is a powerful tool to correct the odometry error. In the end, it finally close the loop..

Left side of video is trajectory of robot, red line is odometry result. green line is fusion odometry with vision. Right side of video is feature tracking, green point is predicted point and red point is matched point.

A baby version of my bearing vision only EKF slam on our robot

It's the first version my EKF slam on this robot. The goal is fusion odometry with monocular vision. No ground truth, but from the video we can see the odometry can not close the loop and the slip make the trajectory can not be a circle. But the result from EKF_slam works here, it correct the angle of rotation when the robot have a sharp turn.

Lane detection, following and obstacle detection and avoidance

Here is our group's robot. The main work includes:

1. Lane detection
2. Lane following
3. obstacle detection
4. obstacle avoidance
5. Real time system

Anyway, it works now. Now I need do more work to challenge more complex situation and explore much more my own research and implement them on this volksrobot.

Setting nfs client to run server's program

System: Ubuntu
1. Install NFS client:
#sudo apt-get install portmap nfs-common
2. Mount the server files on laptop:
#sudo mkdir /nfs/matlab
#sudo mount server:/pub/matlab /nfs/matlab

Now it should work.
If you want to automount it, you need install autofs first:
1. Install autofs
# sudo apt-get install autofs
2. Add the following line at the end of /etc/auto.master:
/nfs /etc/auto.nfs
3. create a file /etc/auto.nfs and add following line( please make sure the dpi file doest include any file has same name with "matlab"):
matlab server:/pub/matlab
4. reload configure file:
$ sudo /etc/init.d/autofs reload
5. Check if it works:
$ls /nfs/matlab

vim-latexsuit

When I install it by apt-get on ubuntu, it doesn't work. Afterwards I download its source file and install it manually. Now it works.

But it uses evince as default dvi viewer and the output is quite bad. So I first change the default viewer by right click the icon of file and choose xdvi. It works just when I open the dvi file but not for gvim.

So I think I need set vim-latex's parameter. Finally I get it:
Open a .tex file and type "let g:Tex_ViewRule_dvi = 'xdvi'" . Now use the shortcut \lv of this suit, it show the file by xdvi.
I add this line to ./vim/ftplugin/tex.vim file. Now it works fine.

I also try the kdvi, but it can not work here. I still don't know the reason.

print more numbers for "cout"

Normally for double data, the precision is quite high. But when you want to show some data like "123456789.12345", it just show you "1.2356e+09". From that, we see it just show you the data with 5 precision. In fact, it does not lose any data. This is for easy to see. If you want to show more, you can do:

#include

double a=123456789.12345;
int n=14;
cout << setprecision(n) << a << endl;


This time it shows you "123456789.12345".