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release/4.3a0
yao 2016-06-15 14:26:10 -04:00
parent 7c8e1f80ce
commit ed7e9af2a4
2 changed files with 0 additions and 22 deletions
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14
doc/Code/LocalizationOutput4.txt
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Factor graph:
size: 5
factor 0: BetweenFactor(1,2)
measured(2, 0, 0)
noise model: diagonal sigmas [0.2; 0.2; 0.1];
factor 1: BetweenFactor(2,3)
measured(2, 0, 0)
noise model: diagonal sigmas [0.2; 0.2; 0.1];
factor 2: keys = { 1 }
noise model: diagonal sigmas [0.1; 0.1];
factor 3: keys = { 2 }
noise model: diagonal sigmas [0.1; 0.1];
factor 4: keys = { 3 }
noise model: diagonal sigmas [0.1; 0.1];

8
doc/Code/Pose2SLAMExample-graph2.m
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%% Plot result, including covariance ellipses
figure(1);clf; plot(initial.xs(),initial.ys(),'g-*'); axis equal
hold on; plot(result.xs(),result.ys(),'b-*')
for i=1:result.size()-1
pose_i = result.pose(i);
P{i}=marginals.marginalCovariance(i);
covarianceEllipse([pose_i.x;pose_i.y],P{i},'b')
end