Exercise 7, Problem 7

Same as problem 6 with scan2 (estimates in scanner coordinates).

The code is the same with the precedent problem with a small twik, which was revealed by not having the robot in the (0,0) point which coincidences with the robot's position in the robot coordinates.

y1 = 1 - scannerPose(2);
y2 = -1 - scannerPose(2);
x3 = 4 - scannerPose(1);
x4 = 5 - scannerPose(1);
scannerPose=[0 0 0]; % (0,0) because we are using robot coord

The results are:

estimatedn =    alpha      r
estimated1 =    1.5708    1.0000
estimated2 =   -1.5708    1.0000
estimated4 =   -0.0000    2.0000