18 lines
541 B
Matlab
18 lines
541 B
Matlab
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function addSimulatedConstraint(points,angles,sd,id1,id2,graph)
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% addSimulatedConstraint: create a simulated measurement with noise
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% standard deviations sd and add it to graph
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key1 = sprintf('x%d', id1);
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key2 = sprintf('x%d', id2);
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% ground truth
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delta_x = points(id1,:) - points(id2,:);
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delta_angle = angles(id1) - angles(id2);
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noisy = Pose2(delta_x(1) + sd(1)*randn, delta_x(2) + sd(2)*randn, delta_angle + sd(3)*randn);
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% create factor
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factor=Pose2Factor(key1,key2,noisy,diag(sd.*sd));
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% add it to the graph
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graph.push_back(factor);
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