www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/ShowNoiseDistributionEffectsForOdometryMotionModelExample.m
%% Show Noise Distribution Effects for Odometry Motion Model % This example shows how to visualize the effect of different noise % parameters on the |robotics.OdometryMotionModel| class. An % |OdometryMotionModel| object contains the motion model noise parameters % for a differential drive robot. Use % |showNoiseDistribution| to visualize how changing these values affect % the distribution of predicted poses. %% % Create a motion model object. motionModel = robotics.OdometryMotionModel; %% % Show the distribution of particles with the existing noise parameters. % Each particle is a hypothesis for the predicted pose. showNoiseDistribution(motionModel); %% % Show the distribution with a specified odometry pose change and number of % samples. The change in odometry is used as the final pose with hypotheses % distributed around based on the |Noise| parameters. showNoiseDistribution(motionModel, ... 'OdometryPoseChange', [0.5 0.1 0.25], ... 'NumSamples', 1000); %% % Change the |Noise| parameters and visualize the effects. Use the same % odometry pose change and number of samples. motionModel.Noise = [0.2 1 0.2 1]; showNoiseDistribution(motionModel, ... 'OdometryPoseChange', [0.5 0.1 0.25], ... 'NumSamples', 1000);