Institut de Robòtica i Informàtica Industrial

AddNoise

PURPOSE ^

Adds noise to a pose.

SYNOPSIS ^

function P2n=AddNoise(P1,P2,Sigma)

DESCRIPTION ^

 Adds noise to a pose.

 Adds noise (with 0 mean and Sigma covariance) to P2.
 The noise is added corrupting the relative displacement between P1 and
 P2 (i.e., the noise is given in the space of relative
 displacement between poses).

 Returns:
    P2n: the noisy P2.

 See also Absolute2Relative.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function P2n=AddNoise(P1,P2,Sigma)
0002 % Adds noise to a pose.
0003 %
0004 % Adds noise (with 0 mean and Sigma covariance) to P2.
0005 % The noise is added corrupting the relative displacement between P1 and
0006 % P2 (i.e., the noise is given in the space of relative
0007 % displacement between poses).
0008 %
0009 % Returns:
0010 %    P2n: the noisy P2.
0011 %
0012 % See also Absolute2Relative.
0013 
0014   D=Absolute2Relative(P1,P2);
0015     P2n=Relative2Absolute(P1,AddNoise2Relative(D,Sigma));
0016


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