www.gusucode.com > MATLAB编程毕业设计 EKF SLAM仿真全部源代码 > z2xy.m
function [xy] = z2xy(z) xy = []; x = []; y = []; if(~isempty(z)) range = z(1,:); bearing = z(2,:); x = cos(bearing).*range; y = sin(bearing).*range; xy = [x' y']; end end