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covarianceEllipse now returns the matlab handle for the lines object to allow for additional formatting by the user

release/4.3a0
Alex Cunningham 2014-02-09 20:34:18 -05:00
parent c1a018a1fd
commit 6a91d7405c
1 changed files with 2 additions and 2 deletions
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4
matlab/+gtsam/covarianceEllipse.m
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@ -1,4 +1,4 @@
function covarianceEllipse(x,P,color, k) function h = covarianceEllipse(x,P,color, k)
% covarianceEllipse plots a Gaussian as an uncertainty ellipse % covarianceEllipse plots a Gaussian as an uncertainty ellipse
% Based on Maybeck Vol 1, page 366 % Based on Maybeck Vol 1, page 366
% k=2.296 corresponds to 1 std, 68.26% of all probability % k=2.296 corresponds to 1 std, 68.26% of all probability
@ -13,7 +13,7 @@ s1 = s(1,1);
s2 = s(2,2); s2 = s(2,2);
if nargin<4, k = 2.296; end; if nargin<4, k = 2.296; end;
[ex,ey] = ellipse( sqrt(s1*k)*e(:,1), sqrt(s2*k)*e(:,2), x(1:2) ); [ex,ey] = ellipse( sqrt(s1*k)*e(:,1), sqrt(s2*k)*e(:,2), x(1:2) );
line(ex,ey,'color',color); h = line(ex,ey,'color',color);
function [x,y] = ellipse(a,b,c); function [x,y] = ellipse(a,b,c);
% ellipse: return the x and y coordinates for an ellipse % ellipse: return the x and y coordinates for an ellipse