Institut de Robòtica i Informàtica Industrial

AddNoise2Relative

PURPOSE ^

Adds noise to a displacement between poses.

SYNOPSIS ^

function Dn=AddNoise2Relative(D,Sigma)

DESCRIPTION ^

 Adds noise to a displacement between poses.

 Adds noise (with 0 mean and the given covariance, Sigma) to a relative
 displacement between poses, D.

 Returns:
    Dn: the noisy displacement, D.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function Dn=AddNoise2Relative(D,Sigma)
0002 % Adds noise to a displacement between poses.
0003 %
0004 % Adds noise (with 0 mean and the given covariance, Sigma) to a relative
0005 % displacement between poses, D.
0006 %
0007 % Returns:
0008 %    Dn: the noisy displacement, D.
0009 %
0010   m=double(D);
0011   mn=RandomGaussian(Gaussian(m,Sigma),1);
0012   Dn=Pose(mn);
0013


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