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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.x,p.y,[color '*']);
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else
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plot(p.x,p.y,color);
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end
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if exist('P', 'var') && (~isempty(P))
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gtsam.covarianceEllipse([p.x;p.y],P,color(1));
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end |