ekf-SLAM Simulator
This version of the simulator uses global variables for
all large objects, such as the state covariance matrix.
While bad programming practice, it is a necessary evil
for MatLab efficiency, as MatLab has no facility to avoid
gratuitous memory allocation and copying when passing
(and modifying) variables between functions. With this
concession, effort has been made to keep the code as
clean and modular as possible.
