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
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