12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

small details

release/4.3a0
Frank Dellaert 2012-06-07 02:18:24 +00:00
parent 89a24e240b
commit e986311566
2 changed files with 3 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
examples/matlab/PlanarSLAMExample.m
View File

@ -40,14 +40,8 @@ graph.addOdometry(i2, i3, odometry, odometryNoise);
%% Add bearing/range measurement factors %% Add bearing/range measurement factors
degrees = pi/180; degrees = pi/180;
noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]); noiseModel = gtsamSharedNoiseModel_Sigmas([0.1; 0.2]);
if 1 graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel);
graph.addBearingRange(i1, j1, gtsamRot2(45*degrees), sqrt(4+4), noiseModel); graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel);
graph.addBearingRange(i2, j1, gtsamRot2(90*degrees), 2, noiseModel);
else
bearingModel = gtsamSharedNoiseModel_Sigmas(0.1);
graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel);
graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel);
end
graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel);
% print % print

2
examples/matlab/PlanarSLAMExample_sampling.m
View File

@ -34,7 +34,7 @@ else
graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel); graph.addBearing(i1, j1, gtsamRot2(45*degrees), bearingModel);
graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel); graph.addBearing(i2, j1, gtsamRot2(90*degrees), bearingModel);
end end
graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel); graph.addBearingRange(i3, j2, gtsamRot2(90*degrees), 2, noiseModel);
%% Initialize MCMC sampler with ground truth %% Initialize MCMC sampler with ground truth
sample = planarSLAMValues; sample = planarSLAMValues;