From 3a7a636f0fec52dd39799ca00fe1c62910f01155 Mon Sep 17 00:00:00 2001
From: Luca <luca.carlone@gatech.edu>
Date: Mon, 17 Feb 2014 10:41:42 -0500
Subject: [PATCH] minor

---
 .../+imuSimulator/coriolisExample.m                  | 12 ++++++------
 .../+imuSimulator/coriolisTestMonteCarlo.m           | 11 +++++++++++
 2 files changed, 17 insertions(+), 6 deletions(-)

diff --git a/matlab/unstable_examples/+imuSimulator/coriolisExample.m b/matlab/unstable_examples/+imuSimulator/coriolisExample.m
index e128dacb4..555ca553e 100644
--- a/matlab/unstable_examples/+imuSimulator/coriolisExample.m
+++ b/matlab/unstable_examples/+imuSimulator/coriolisExample.m
@@ -60,6 +60,12 @@ if ~exist('externalCoriolisConfiguration', 'var')
         initialPosition = [0; 1; 0];% initial position in both frames
         initialVelocity = [0;0;0];  % initial velocity in the rotating frame (ignoring the velocity due to the frame's rotation)
     end
+    
+    if navFrameRotating == 0
+      omegaCoriolisIMU = [0;0;0];
+    else
+      omegaCoriolisIMU = omegaRotatingFrame;
+    end
 end
 
 % From Wikipedia Angular Velocity page, dr/dt = W*r, where r is
@@ -72,12 +78,6 @@ angularVelocityTensor = [         0             -omegaRotatingFrame(3)  omegaRot
 initialVelocityFixedFrame = angularVelocityTensor * initialPosition + initialVelocity;
 initialVelocityRotatingFrame = initialVelocity;
                      
-if navFrameRotating == 0
-    omegaCoriolisIMU = [0;0;0];
-else
-    omegaCoriolisIMU = omegaRotatingFrame;
-end
-
 %
 currentRotatingFrame = Pose3;   % rotating frame initially coincides with fixed frame at t=0
 currentPoseFixedGT = Pose3(Rot3, Point3(initialPosition));
diff --git a/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m b/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m
index f525a407f..d48abca2c 100644
--- a/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m
+++ b/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m
@@ -49,13 +49,24 @@ end
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 numTests = 20
 for testInd=1:numTests
+  omegaCoriolisIMU = [0;0;0];
   navFrameRotating = 0;
   accelFixed = 2*rand(3,1)-ones(3,1);
   imuSimulator.coriolisExample
   posFinErrorFixed(testInd) = norm(axisPositionsError(:,end))/trajectoryLengthFixedFrameGT*100
   rotFinErrorFixed(testInd) = norm(rotationsErrorVectors(:,end))
   velFinErrorFixed(testInd) =  norm(axisVelocityError(:,end))
+  
   % Run the same initial conditions but navigating in the rotating frame
+-->  enable coriolis effect by setting:omegaCoriolisIMU = omegaRotatingFrame;
+  navFrameRotating = 1;
+  imuSimulator.coriolisExample
+  posFinErrorRot(testInd) = norm(axisPositionsError(:,end))/trajLen*100
+  rotFinErrorRot(testInd) = norm(rotationsErrorVectors(:,end))
+  velFinErrorRot(testInd) =  norm(axisVelocityError(:,end))
+  
+  % Run the same initial conditions but navigating in the rotating frame
+-->  disable coriolis effect by setting: omegaCoriolisIMU = [0;0;0];
   navFrameRotating = 1;
   imuSimulator.coriolisExample
   posFinErrorRot(testInd) = norm(axisPositionsError(:,end))/trajLen*100