From f618466c25d43f3bae9e40920273bf77de1e1149 Mon Sep 17 00:00:00 2001 From: leochanj105 Date: Mon, 19 Oct 2020 23:09:30 -0400 Subject: initial sd-vbs initial sd-vbs add sd-vbs sd-vbs --- .../localization/src/matlab/generateSample.m | 25 ++++++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 SD-VBS/benchmarks/localization/src/matlab/generateSample.m (limited to 'SD-VBS/benchmarks/localization/src/matlab/generateSample.m') diff --git a/SD-VBS/benchmarks/localization/src/matlab/generateSample.m b/SD-VBS/benchmarks/localization/src/matlab/generateSample.m new file mode 100644 index 0000000..f3658f8 --- /dev/null +++ b/SD-VBS/benchmarks/localization/src/matlab/generateSample.m @@ -0,0 +1,25 @@ +function [retQuat retVel retPos]=generateSample(w, quat, vel, pos, STDDEV_VEL, STDDEV_POS) +sampledXId=weightedSample(w); + +rows = size(sampledXId, 1); +cols = size(sampledXId, 2); + +if(cols > 1) + disp(123456); +end + +% retQuat = zeros(rows, 1); +% retVel = zeros(rows, 1); +% retPos = zeros(rows, 1); + +% for i=1:rows +% retQuat(i,1) = quat(sampleXId(i,1),1); +% retVel(i,1) = vel(sampleXId(i,1),1) + randnWrapper(1,1) * STDDEV_VEL; +% retPos(i,1) = pos(sampleXId(i,1),1) + randnWrapper(1,1) * STDDEV_POS; +% end + +retQuat=quat(sampledXId,:); +retVel=vel(sampledXId,:);%+randnWrappern(n,3)*STDDEV_VEL; +retPos=pos(sampledXId,:);%+randnWrappern(n,3)*STDDEV_POS; + + -- cgit v1.2.2