Added actual plotting of Pose2s when there aren't covariance ellipses

2013-03-25 16:01:49 +00:00 · 2013-03-25 16:01:49 +00:00 · 06be7b4926
parent 233c8aa7bb
commit 06be7b4926
1 changed files with 3 additions and 0 deletions
--- a/matlab/+gtsam/plot2DTrajectory.m
+++ b/matlab/+gtsam/plot2DTrajectory.m
@ -32,7 +32,10 @@ for i = 0:keys.size-1
            if haveMarginals
                P = marginals.marginalCovariance(lastKey);
                gtsam.plotPose2(lastPose, 'g', P);
+            else
+                gtsam.plotPose2(lastPose, 'g', []);
            end
+            
        end
        lastIndex = i;
    end