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| author | leochanj <jbakita@cs.unc.edu> | 2020-10-21 01:52:54 -0400 |
|---|---|---|
| committer | leochanj <jbakita@cs.unc.edu> | 2020-10-21 01:52:54 -0400 |
| commit | 25d94aa8aabb8ac3e8bbea0bc439ea6148444cc8 (patch) | |
| tree | ba80e76d25d9ca9486092e2f6b6d76f0e3352bf7 /SD-VBS/benchmarks/localization/src/matlab/addEulNoise.m | |
| parent | e2b50015cebdfba68699abd6e8575e38230f5a78 (diff) | |
debug libextra and remove matlab
Diffstat (limited to 'SD-VBS/benchmarks/localization/src/matlab/addEulNoise.m')
| -rw-r--r-- | SD-VBS/benchmarks/localization/src/matlab/addEulNoise.m | 12 |
1 files changed, 0 insertions, 12 deletions
diff --git a/SD-VBS/benchmarks/localization/src/matlab/addEulNoise.m b/SD-VBS/benchmarks/localization/src/matlab/addEulNoise.m deleted file mode 100644 index 3d2ac76..0000000 --- a/SD-VBS/benchmarks/localization/src/matlab/addEulNoise.m +++ /dev/null | |||
| @@ -1,12 +0,0 @@ | |||
| 1 | function retQuat=addEulNoise(quat, STD) | ||
| 2 | n=size(quat,1); | ||
| 3 | |||
| 4 | % KVS: replacing randnWrapper(n,3) with rand(n,3) | ||
| 5 | gyro=randnWrapper(n,3)*STD; | ||
| 6 | |||
| 7 | norm_gyro=sqrt(sum(gyro.^2,2)); | ||
| 8 | angleAlpha=norm_gyro; | ||
| 9 | quatDelta=[cos(angleAlpha/2), gyro./(norm_gyro*ones(1,3)).*(sin(angleAlpha/2)*ones(1,3))]; | ||
| 10 | |||
| 11 | retQuat=quatMul(quat, quatDelta); | ||
| 12 | |||