060809

Code for EKF SLAM based on prediction and data association of lines using endpoints( points associate first and then lines) is done

edit from last code:
to:
zf = [zf z(:,pointlm_count+curr_permline(j))]
from:
zf = [zf z(:,pointlm_count+j)]

Remarks:

association vector zf needs index of line from all features in scan(i.e. z) but j is an index of curr_permline. curr_permline(j) is an index to the actual line in z