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