To generate the datefiles simoutpu1 and 2 you run the following

java -cp EL3320Sim-20080218.jar FileGenerator -c default_settings.txt -e exp_settings1.txt       

and swap the last argument if you want 2 instead. 

In the first case we have perfect odometry and in the second we have
an incorrect wheel radius

Modify the file ekf_locate.m to implement a EKF localizer

which you run with

ekf_locate('simoutput1.txt')

