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function plotPoint2(p,color,P)
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% plotPoint2 shows a Point2, possibly with covariance matrix
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if size(color,2)==1
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plot(p(1),p(2),[color '*']);
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else
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plot(p(1),p(2),color);
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end
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if exist('P', 'var') && (~isempty(P))
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gtsam.covarianceEllipse([p(1);p(2)],P,color(1));
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end |