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Functions | Variables
compute_ekf_sym.m File Reference

Go to the source code of this file.

Functions

 exp (-x3 *T)]
 
-x3 *T x3 ()
 
 zeros (2, 2) eye(2
 

Variables

 function [xhat, yhat, F, H]
 
 x2 =sym('x2')
 
 x3 =sym('x3')
 
 x4 =sym('x4')
 
 T =0.01
 
 Ad =[1 (1-exp(-x3*T))/x3
 
 Bd =x4*[(exp(-x3*T)+x3*T-1)/(x3*x3)
 
 A_aug =[Ad zeros(2,2)
 
 B_aug =[Bd
 
 C_aug =[1 0 0 0]
 
 x =[x1
 
 f =A_aug*x+B_aug*u_1
 
 h =C_aug*x
 
 F =jacobian(f,x)
 
 H =jacobian(h,x)
 
 x1 =subs(x1,xhat_1(1))
 
 xhat =subs(f)
 
 yhat =subs(h)
 

Function Documentation

◆ exp()

exp ( -x3 T)

◆ x3()

-x3*T x3 ( )
virtual

◆ zeros()

zeros ( ,
 
)

Variable Documentation

◆ A_aug

A_aug =[Ad zeros(2,2)

Definition at line 17 of file compute_ekf_sym.m.

◆ Ad

Ad =[1 (1-exp(-x3*T))/x3

Definition at line 14 of file compute_ekf_sym.m.

◆ B_aug

B_aug =[Bd

Definition at line 18 of file compute_ekf_sym.m.

◆ Bd

Bd =x4*[(exp(-x3*T)+x3*T-1)/(x3*x3)

Definition at line 15 of file compute_ekf_sym.m.

◆ C_aug

C_aug =[1 0 0 0]

Definition at line 19 of file compute_ekf_sym.m.

◆ f

Definition at line 22 of file compute_ekf_sym.m.

◆ F

F =jacobian(f,x)

Definition at line 25 of file compute_ekf_sym.m.

◆ function

function[xhat, yhat, F, H]
Initial value:
=compute_ekf_sym(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=sym('x1')
-(x4 *(e-1 u_1()

Definition at line 1 of file compute_ekf_sym.m.

◆ h

h =C_aug*x

Definition at line 23 of file compute_ekf_sym.m.

◆ H

H =jacobian(h,x)

Definition at line 26 of file compute_ekf_sym.m.

◆ T

T =0.01

Definition at line 12 of file compute_ekf_sym.m.

◆ x

new axes x =[x1

Definition at line 21 of file compute_ekf_sym.m.

◆ x1

x1 =subs(x1,xhat_1(1))

Definition at line 28 of file compute_ekf_sym.m.

◆ x2

x2 =sym('x2')

Definition at line 9 of file compute_ekf_sym.m.

◆ x3

x3 =sym('x3')

Definition at line 10 of file compute_ekf_sym.m.

◆ x4

x4 =sym('x4')

Definition at line 11 of file compute_ekf_sym.m.

◆ xhat

xhat =subs(f)

Definition at line 33 of file compute_ekf_sym.m.

◆ yhat

yhat =subs(h)

Definition at line 34 of file compute_ekf_sym.m.