compute_ekf_fast.m File Reference

Go to the source code of this file.

Functions
-(x4 *(e-1	u_1 ()
u_1 *x4 *	e (100 *x3) -(x2 *e)/100+(u_1 *x4 *(e-1))/x3^2

Variables
	function [xhat, yhat, F, H]
	x2 =xhat_1(2)
	x3 =xhat_1(3)
	x4 =xhat_1(4)
	e =exp(-x3/100)
	xhat =[x1-(x2*(e-1))/x3+((x4*(x3/100+e-1))/x3^2)*u_1
	yhat =x1
	F =[1, -(e-1)/x3, (x2*(e-1))/x3^2+(x2*e)/(100*x3)-(u_1*x4*(e-1)/100)/x3^2-(2*u_1*x4*(x3/100+e-1))/x3^3, (u_1*(x3/100+e-1))/x3^2
	H =[1 0 0 0]

Function Documentation

e()

u_1* x4* e

(

100 *

x3

)

u_1()

-(x4*(e-1 u_1 ( )

staticvirtual

Variable Documentation

e

e =exp(-x3/100)

Definition at line 13 of file compute_ekf_fast.m.

F

F =[1, -(e-1)/x3, (x2*(e-1))/x3^2+(x2*e)/(100*x3)-(u_1*x4*(e-1)/100)/x3^2-(2*u_1*x4*(x3/100+e-1))/x3^3, (u_1*(x3/100+e-1))/x3^2

Definition at line 22 of file compute_ekf_fast.m.

function

function[xhat, yhat, F, H]

Initial value:

=compute_ekf_fast(xhat_1,u_1)
%#ok<*NASGU>
%
% Copyright: (C) 2012 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
% Author: Ugo Pattacini
% CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
x1=xhat_1(1)

Definition at line 1 of file compute_ekf_fast.m.

H

H =[1 0 0 0]

Definition at line 27 of file compute_ekf_fast.m.

x2

x2 =xhat_1(2)

Definition at line 9 of file compute_ekf_fast.m.

x3

x3 *T x3 =xhat_1(3)

Definition at line 10 of file compute_ekf_fast.m.

x4

x4 =xhat_1(4)

Definition at line 11 of file compute_ekf_fast.m.

xhat

xhat =[x1-(x2*(e-1))/x3+((x4*(x3/100+e-1))/x3^2)*u_1

Definition at line 15 of file compute_ekf_fast.m.

yhat

yhat =x1

Definition at line 20 of file compute_ekf_fast.m.