13 lines
452 B
Matlab
13 lines
452 B
Matlab
function plotPose2(pose,color,P,axisLength)
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% plotPose2: show a Pose2, possibly with covariance matrix
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if nargin<4,axisLength=0.1;end
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plot(pose.x,pose.y,[color '*']);
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c = cos(pose.theta);
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s = sin(pose.theta);
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quiver(pose.x,pose.y,c,s,axisLength,color);
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if nargin>2
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pPp = P(1:2,1:2); % covariance matrix in pose coordinate frame
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gRp = [c -s;s c]; % rotation from pose to global
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covarianceEllipse([pose.x;pose.y],gRp*pPp*gRp',color);
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end |