010909

Deadline: 04/09/09
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1. Making Visibility work completely.(no code flaws)
2. Making Clustering program work in the lab environment.
-Near features might cause problems with gate values, hence need to be discarded/an intelligent solution is required.(Discarding also needs to be consistent)
3. Understand all work and core variables and how they change and jacobians.
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Deadline:16/09/09

1. One SLAM run start-end-start(w or w/o loop closing)
2. Drawing like in CoreSLAM(Saving all scan values and position offline and making a plot) and comparing it with only odometry based mapping results.
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