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.