Revision 1822
don't even know
| sensorModel.m | ||
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| 2 | 2 |
function [xSensor, ySensor, thetaSensor, phiSensor, state, encoderNoise, xoldSensed, yoldSensed, thetaoldSensed, noise] = sensorModel(xTrue,yTrue,thetaTrue,phiTrue,state, n, encoderNoise, wheels, xoldSensed, yoldSensed, thetaoldSensed, dt, noise) |
| 3 | 3 |
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| 4 | 4 |
phiNoiseVar = 0.1; |
| 5 |
encoderNoiseVar = 0.05;
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| 5 |
encoderNoiseVar = 0.001;
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| 6 | 6 |
noiseMean = 0; |
| 7 | 7 |
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| 8 | 8 |
%TODO: value in time instead of number of calls |
| ... | ... | |
| 20 | 20 |
% Use the lagged values for position |
| 21 | 21 |
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| 22 | 22 |
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noise = noise + (encoderNoise .* (encoderNoiseVar * abs(randn(2, n))) ./ wheels);
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noise = noise + ((encoderNoise .* (encoderNoiseVar * abs(randn(2, n)))) .* wheels);
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| 24 | 24 |
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| 25 | 25 |
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| 26 | 26 |
R = 3.5; |
| ... | ... | |
| 41 | 41 |
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| 42 | 42 |
end |
| 43 | 43 |
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disp(wheels) |
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| 45 | 44 |
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| 46 | 45 |
xSensor = xoldSensed; |
| 47 | 46 |
ySensor = yoldSensed; |
Also available in: Unified diff