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 (1-exp(-x3*T))/x3

	Bd =x4[(exp(-x3T)+x3T-1)/(x3x3)

	A_aug =[Ad zeros(2,2)

	B_aug =[Bd

	C_aug =[1 0 0 0]

	x =[x1

	f =A_augx+B_augu_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)

Function Documentation

◆ exp()

exp ( -x3 * T )

◆ zeros()

zeros	(	2	,
		2
	)

Variable Documentation

◆ A_aug

A_aug =[Ad zeros(2,2)

Definition at line 17 of file compute_ekf_sym.m.

◆ Ad

Ad =[1 (1-exp(-x3*T))/x3

Definition at line 14 of file compute_ekf_sym.m.

◆ B_aug

B_aug =[Bd

Definition at line 18 of file compute_ekf_sym.m.

◆ Bd

Bd =x4*[(exp(-x3*T)+x3*T-1)/(x3*x3)

Definition at line 15 of file compute_ekf_sym.m.

◆ C_aug

C_aug =[1 0 0 0]

Definition at line 19 of file compute_ekf_sym.m.

◆ f

f =A_aug*x+B_aug*u_1

Definition at line 22 of file compute_ekf_sym.m.

◆ F

F =jacobian(f,x)

Definition at line 25 of file compute_ekf_sym.m.

◆ function

function[xhat, yhat, F, H]

Initial value:

=compute_ekf_sym(xhat_1,u_1)
%#ok<*NASGU>
%
% Copyright: (C) 2012 Department of Robotics Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
% Author: Ugo Pattacini
% CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
x1=sym('x1')