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0021 clearvars
0022 close all
0023 clc
0024
0025
0026 display('----------------------------------------------------------')
0027 display('----------------- demo uncertain frames -----------------')
0028 display('----------------------------------------------------------')
0029
0030
0031
0032 init_rand = 0;
0033 init_rand_seed(init_rand);
0034
0035 S = 0.999;
0036
0037 b_output = 1;
0038
0039
0040 sigma_g = 1;
0041
0042 sigma_n = 10^-6;
0043
0044 N_samples = 100;
0045
0046
0047 [R0p,M0p,Cp,R,Ms,Mz,Rp,Msp,Mzp,Rs,Mss,Mzs]=...
0048 generate_test_data_uncertain_frames(sigma_g,sigma_n,N_samples);
0049
0050
0051
0052
0053
0054 check_basics_rotations(R,Rp,b_output)
0055
0056 check_basics_motions_s(Ms,Msp,b_output)
0057
0058 check_basics_motions_z(Mz,Mzp,b_output)
0059
0060 display(' ')
0061
0062 check_simulated_rotation(R0p(1:3,1:3),Cp(1:3,1:3),Rs,S);
0063
0064 check_simulated_motion_s(M0p(1:4,1:4),Cp(1:6,1:6),Mss,S)
0065
0066 check_simulated_motion_z(M0p(1:4,1:4),Cp(1:6,1:6),Mzs,S)
0067
0068 display(' ')
0069 display('----------------------------------------------------------')
0070 display('--------------- end demo uncertain frames ---------------')
0071 display('----------------------------------------------------------')
0072
0073 return
0074
0075
0076
0077