www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/PredictPosesBasedOnAnOdometryMotionModelExample.m
%% Predict Poses Based On An Odometry Motion Model % This example shows how to use the |robotics.OdometryMotionModel| class to % predict the pose of a robot. An |OdometryMotionModel| object contains the % motion model parameters for a differential drive robot. Use the object to % predict the pose of a robot based on its current and previous poses and % the motion model parameters. %% % Create odometry motion mdoel object. motionModel = robotics.OdometryMotionModel; %% % Define previous poses and the current odometry reading. Each pose % prediction corresponds to a row in |previousPoses| vector. previousPoses = rand(10,3); currentOdom = [0.1 0.1 0.1]; %% % The first call to the object initializes values and returns the % previous poses as the current poses. currentPoses = motionModel(previousPoses, currentOdom); %% % Subsequent calls to the object with updated odometry poses returns the predicted % poses based on the motion model. currentOdom = currentOdom + [0.1 0.1 0.05]; predPoses = motionModel(previousPoses, currentOdom);