iCubmain

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Functions  
exp (x3 *T)]  
zeros (2, 2) eye(2  
Variables  
function [xhat, yhat, F, H]  
x2 =sym('x2')  
x3 =sym('x3')  
x4 =sym('x4')  
T =0.01  
Ad =[1 (1exp(x3*T))/x3  
Bd =x4*[(exp(x3*T)+x3*T1)/(x3*x3)  
A_aug =[Ad zeros(2,2)  
B_aug =[Bd  
C_aug =[1 0 0 0]  
x =[x1  
f =A_aug*x+B_aug*u_1  
h =C_aug*x  
F =jacobian(f,x)  
H =jacobian(h,x)  
x1 =subs(x1,xhat_1(1))  
xhat =subs(f)  
yhat =subs(h)  
exp  (  x3 *  T  ) 
zeros  (  2  , 
2  
) 
Definition at line 17 of file compute_ekf_sym.m.
B_aug =[Bd 
Definition at line 18 of file compute_ekf_sym.m.
C_aug =[1 0 0 0] 
Definition at line 19 of file compute_ekf_sym.m.
Definition at line 25 of file compute_ekf_sym.m.
Definition at line 1 of file compute_ekf_sym.m.
Definition at line 23 of file compute_ekf_sym.m.
Definition at line 26 of file compute_ekf_sym.m.
T =0.01 
Definition at line 12 of file compute_ekf_sym.m.
new axes x =[x1 
Definition at line 21 of file compute_ekf_sym.m.
x1 =subs(x1,xhat_1(1)) 
Definition at line 28 of file compute_ekf_sym.m.
x2 =sym('x2') 
Definition at line 9 of file compute_ekf_sym.m.
x3 =sym('x3') 
Definition at line 10 of file compute_ekf_sym.m.
x4 =sym('x4') 
Definition at line 11 of file compute_ekf_sym.m.
xhat =subs(f) 
Definition at line 33 of file compute_ekf_sym.m.
yhat =subs(h) 
Definition at line 34 of file compute_ekf_sym.m.