iCub-main
compute_ekf_fast.m File Reference

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## Functions

-(x4 *(e-1 u_1 ()

u_1 *x4e (100 *x3) -(x2 *e)/100+(u_1 *x4 *(e-1))/x3^2

u_1 *(e-1 x3 ()

## 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]

## ◆ e()

 u_1* x4* e ( 100 * x3 )

## ◆ u_1()

 -(x4*(e-1 u_1 ( )
staticvirtual

## ◆ x3()

 u_1*(e-1 x3 ( )
virtual

## ◆ 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)
-(x4 *(e-1 u_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 =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.