From ebd6fb96d86ab42cd8808319dedbb516e1afd82a Mon Sep 17 00:00:00 2001
From: Viorela Ila <iviorela@gmail.com>
Date: Sat, 24 Oct 2009 14:06:17 +0000
Subject: [PATCH] create a map and trajectory (not rand)

---
 matlab/create_landmarks.m | 16 ++++++++++++++++
 matlab/walk.m             | 20 ++++++++++++++++++++
 2 files changed, 36 insertions(+)
 create mode 100644 matlab/create_landmarks.m
 create mode 100644 matlab/walk.m

diff --git a/matlab/create_landmarks.m b/matlab/create_landmarks.m
new file mode 100644
index 000000000..e19d4d5af
--- /dev/null
+++ b/matlab/create_landmarks.m
@@ -0,0 +1,16 @@
+% Christian Potthast
+% Create a map with random landmarks
+
+function map = create_random_landmarks(visibilityTh, mappingArea, steps)
+map=[];
+points1=1:visibilityTh:mappingArea(1);
+points2=1:visibilityTh:mappingArea(2);
+ for i=1:size(points1,2)
+  map=[map,[points1(1,i)-steps;points2(1,i)],[points1(1,i);points2(1,i)-steps]];
+ end
+
+% for i=1:size(points1,2)
+%     for j=1:size(points2,2)
+%     map=[map,[points1(1,i);points2(1,j)]];
+%     end
+% end
diff --git a/matlab/walk.m b/matlab/walk.m
new file mode 100644
index 000000000..0fab6f3a3
--- /dev/null
+++ b/matlab/walk.m
@@ -0,0 +1,20 @@
+% Christian Potthast
+% random walk from a robot
+
+function pose = walk(initial, velocity, steps)
+
+pose(:,1) = initial;
+bearing = 0.7854; % 45?
+
+
+for step = 2:steps
+    
+    %bearing =  bearing + 0.05;
+    
+    pose(1,step) = pose(1,step-1) + sin(bearing) * velocity;
+    pose(2,step) = pose(2,step-1) + cos(bearing) * velocity;
+    
+end
+
+
+