38 lines
1008 B
C++
38 lines
1008 B
C++
/**
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* @file simulated2D.cpp
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* @brief measurement functions and derivatives for simulated 2D robot
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* @author Frank Dellaert
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*/
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#include "simulated2D.h"
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namespace simulated2D {
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static Matrix I = gtsam::eye(2);
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/* ************************************************************************* */
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Vector prior(const Vector& x, boost::optional<Matrix&> H) {
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if (H) *H = I;
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return x;
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}
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/* ************************************************************************* */
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Vector odo(const Vector& x1, const Vector& x2, boost::optional<Matrix&> H1,
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boost::optional<Matrix&> H2) {
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if (H1) *H1 = -I;
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if (H2) *H2 = I;
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return x2 - x1;
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}
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/* ************************************************************************* */
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Vector mea(const Vector& x, const Vector& l, boost::optional<Matrix&> H1,
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boost::optional<Matrix&> H2) {
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if (H1) *H1 = -I;
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if (H2) *H2 = I;
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return l - x;
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}
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/* ************************************************************************* */
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} // namespace simulated2D
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