www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/GetParticlesFromMonteCarloLocalizationAlgorithmExample.m
%% Get Particles from Monte Carlo Localization Algorithm % Get particles from the particle filter % used in the Monte Carlo Localization object. %% % Create a map and a Monte Carlo localization object. map = robotics.BinaryOccupancyGrid(10,10,20); mcl = robotics.MonteCarloLocalization(map); %% % Create robot data for the range sensor and pose. ranges = 10*ones(1,300); ranges(1,130:170) = 1.0; angles = linspace(-pi/2,pi/2,300); odometryPose = [0 0 0]; %% % Initialize particles using |step|. [isUpdated,estimatedPose,covariance] = step(mcl,odometryPose,ranges,angles); %% % Get particles from the updated object. [particles,weights] = getParticles(mcl);