{"action":"created","comment":{"url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/pulls/comments/58901211","id":58901211,"diff_hunk":"@@ -0,0 +1,36 @@\n+%% FUNC to search of features in Field of VIEW\n+% INPUTS:(in order of call)\n+% -------\n+% No of features\n+% Map of the Environment\n+% Robot's pose at the current time step\n+% Maximum Range\n+% Maximum FOV\n+% OUTPUTS:(in order of call)\n+% --------\n+% A vector containing all the measured indexs\n+% % AUTHOR: BISMAYA SAHOO, EMAIL:bsahoo@uwaterloo.ca\n+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%\n+%% Feature Search\n+    function meas_ind=featureSearch_fs(noFeatures,map,robot_pose,rmax,thmax)\n+        meas_ind = [];\n+        for i=1:noFeatures\n+                if(inview(map(:,i),robot_pose,rmax,thmax))\n+                    meas_ind=[meas_ind,i];%concatenate the indices\n+                end\n+        end\n+            function yes = inview(f,x, rmax, thmax)\n+            % Checks for features currently in robot's view","path":"matlab_simulation/05-estimation/fastSLAM/featureSearch_fs.m","position":23,"original_position":23,"commit_id":"cdfc0e69be0d98d7641fce58293146a8d813f492","original_commit_id":"cdfc0e69be0d98d7641fce58293146a8d813f492","user":{"login":"chutsu","id":91460,"avatar_url":"https://avatars.githubusercontent.com/u/91460?v=3","gravatar_id":"","url":"https://api.github.com/users/chutsu","html_url":"https://github.com/chutsu","followers_url":"https://api.github.com/users/chutsu/followers","following_url":"https://api.github.com/users/chutsu/following{/other_user}","gists_url":"https://api.github.com/users/chutsu/gists{/gist_id}","starred_url":"https://api.github.com/users/chutsu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/chutsu/subscriptions","organizations_url":"https://api.github.com/users/chutsu/orgs","repos_url":"https://api.github.com/users/chutsu/repos","events_url":"https://api.github.com/users/chutsu/events{/privacy}","received_events_url":"https://api.github.com/users/chutsu/received_events","type":"User","site_admin":false},"body":"functions within a function is a bad idea...","created_at":"2016-04-07T16:23:17Z","updated_at":"2016-04-07T16:23:17Z","html_url":"https://github.com/WaterlooRobotics/mobilerobotics/pull/52#discussion_r58901211","pull_request_url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/pulls/52","_links":{"self":{"href":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/pulls/comments/58901211"},"html":{"href":"https://github.com/WaterlooRobotics/mobilerobotics/pull/52#discussion_r58901211"},"pull_request":{"href":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/pulls/52"}}},"pull_request":{"url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/pulls/52","id":61925443,"html_url":"https://github.com/WaterlooRobotics/mobilerobotics/pull/52","diff_url":"https://github.com/WaterlooRobotics/mobilerobotics/pull/52.diff","patch_url":"https://github.com/WaterlooRobotics/mobilerobotics/pull/52.patch","issue_url":"https://api.github.com/repos/WaterlooRobotics/mobilerobotics/issues/52","number":52,"state":"open","locked":false,"title":"I14 fast slam","user":{"login":"LordBismaya","id":17207271,"avatar_url":"https://avatars.githubusercontent.com/u/17207271?v=3","gravatar_id":"","url":"https://api.github.com/users/LordBismaya","html_url":"https://github.com/LordBismaya","followers_url":"https://api.github.com/users/LordBismaya/followers","following_url":"https://api.github.com/users/LordBismaya/following{/other_user}","gists_url":"https://api.github.com/users/LordBismaya/gists{/gist_id}","starred_url":"https://api.github.com/users/LordBismaya/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/LordBismaya/subscriptions","organizations_url":"https://api.github.com/users/LordBismaya/orgs","repos_url":"https://api.github.com/users/LordBismaya/repos","events_url":"https://api.github.com/users/LordBismaya/events{/privacy}","received_events_url":"https://api.github.com/users/LordBismaya/received_events","type":"User","site_admin":false},"body":"functionalized the fast slam function. put it in the estimation folder. 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