A list of the files contained in this directory along with brief 
descriptions follows:

Ball.cc
-------
Estimates position and velocity of ball.

Location.cc
-----------
Updates dog localization estimate given current estimates of landmark 
positions.

Odometry.cc
-----------
Updates landmark and ball observations given control input to walk engine.

RBFilter.h
RBFilter.cc
-----------------
Keeps state related to dog localization and provides methods to update 
the estimate based on landmark observations.

randn.h
-------
Generates normally-distributed random numbers.

resample.h
----------
Implements resampling step of particle filter for dog localization.

Vision.cc
---------
Updates ball and landmark observations given raw object information 
generated by low-level vision.

WorldModel.h
WorldModel.cc
-------------
Class that keeps state related to localization.

 

