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small change

release/4.3a0
Luca 2014-02-17 10:13:13 -05:00
parent c8c728ad6f
commit 794a22249b
1 changed files with 10 additions and 12 deletions
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22
matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m
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@ -48,21 +48,19 @@ end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
numTests = 10 numTests = 10
% for testInd=1:numTests
% accelFixed = 2*rand(3,1)-ones(3,1);
% imuSimulator.coriolisExample
% posFinError(testInd) = norm(axisPositionsError(:,end))/trajectoryLengthFixedFrameGT*100
% rotFinError(testInd) = norm(rotationsErrorVectors(:,end))
% velFinError(testInd) = norm(axisVelocityError(:,end))
% end
% Run the same initial conditions but navigating in the rotating frame
navFrameRotating = 1;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
for testInd=1:numTests for testInd=1:numTests
navFrameRotating = 0;
accelFixed = 2*rand(3,1)-ones(3,1); accelFixed = 2*rand(3,1)-ones(3,1);
imuSimulator.coriolisExample imuSimulator.coriolisExample
posFinError(testInd) = norm(axisPositionsError(:,end))/trajectoryLengthFixedFrameGT*100
rotFinError(testInd) = norm(rotationsErrorVectors(:,end))
velFinError(testInd) = norm(axisVelocityError(:,end))
% Run the same initial conditions but navigating in the rotating frame
navFrameRotating = 1;
imuSimulator.coriolisExample
posFinErrorRot(testInd) = norm(axisPositionsError(:,end))/trajLen*100 posFinErrorRot(testInd) = norm(axisPositionsError(:,end))/trajLen*100
rotFinErrorRot(testInd) = norm(rotationsErrorVectors(:,end)) rotFinErrorRot(testInd) = norm(rotationsErrorVectors(:,end))
velFinErrorRot(testInd) = norm(axisVelocityError(:,end)) velFinErrorRot(testInd) = norm(axisVelocityError(:,end))
end end