www.gusucode.com > matlab编程实现平台的slam模拟器源码程序 > matlab编程实现平台的slam模拟器源码程序/ekf-slam-matlab-master/tools/initGraphics.m
% Author: Jai Juneja % Date: 13/02/2013 % % Initialise graphics handles. function Graphics = initGraphics(World, Obstacles, handles) Graphics.Map = line('parent',handles.mainAxes,... 'linestyle','none',... 'marker','s',... 'MarkerFaceColor', 'y', ... 'color','y',... 'xdata',[],... 'ydata',[]); Graphics.World = line('parent',handles.mainAxes,... 'linestyle','none',... 'marker','o',... 'color','b',... 'xdata',World.W(1,:),... 'ydata',World.W(2,:)); Graphics.TrueRob = line('parent',handles.mainAxes,... 'color','b',... 'xdata',[],... 'ydata',[]); Graphics.Rob = line('parent',handles.mainAxes,... 'color','r',... 'xdata',[],... 'ydata',[]); Graphics.Lmk = line('parent',handles.mainAxes,... 'linestyle','none',... 'marker','+',... 'color','g',... 'xdata',[],... 'ydata',[]); Graphics.LmkLines = line(... 'parent',handles.mainAxes, ... 'color','g', ... 'xdata',[], ... 'ydata',[]); Graphics.Ellipse = zeros(1,size(World.W,2)); for i = 1:numel(Graphics.Ellipse) Graphics.Ellipse(i) = line(... 'parent', handles.mainAxes,... 'color','r',... 'xdata',[],... 'ydata',[]); end Graphics.RobCov = line(... 'parent', handles.mainAxes,... 'color','r',... 'xdata',[],... 'ydata',[]); if ~isempty(Obstacles) for i = 1:length(Obstacles) Obstacles(i).graphics = []; Obstacles(i).plot(handles.mainAxes); end end Graphics.Scan = line('parent',handles.mainAxes,... 'linestyle','none',... 'marker','x',... 'color','r',... 'xdata',[],... 'ydata',[]); Graphics.R_hist = line('xdata', [], ... 'ydata', [], ... 'color', 'b', ... 'parent', handles.mainAxes); Graphics.r_hist = line('xdata', [], ... 'ydata', [], ... 'color', 'r', ... 'parent', handles.mainAxes); Graphics.map1 = imagesc([], ... 'parent', handles.map1); colormap(gray); axis equal Graphics.map2 = imagesc([], ... 'parent', handles.map2); colormap(gray); axis equal end