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Absolute2RelativeJacobianPURPOSE
Jacobian of the relative displacement between two poses.
SYNOPSIS
function [H1 H2]=Absolute2RelativeJacobian(P1,P2)
DESCRIPTION
Jacobian of the relative displacement between two poses. Returns the Jacobians of the Absolute2Relative function with respect its parameteres evaluated at P1 and P2. This is used in the linear filters to linearize Absolute2Relative and is denoted by H in our papers. See also Absolute2Relative. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function [H1 H2]=Absolute2RelativeJacobian(P1,P2) 0002 % Jacobian of the relative displacement between two poses. 0003 % 0004 % Returns the Jacobians of the Absolute2Relative function with respect its 0005 % parameteres evaluated at P1 and P2. 0006 % This is used in the linear filters to linearize Absolute2Relative and is 0007 % denoted by H in our papers. 0008 % 0009 % See also Absolute2Relative. 0010 0011 x1=P1.data(1); y1=P1.data(2); o1=P1.data(3); 0012 x2=P2.data(1); y2=P2.data(2);% o2=P2.data(3); 0013 0014 dx=(x2-x1); 0015 dy=(y2-y1); 0016 0017 c1=cos(o1); 0018 s1=sin(o1); 0019 0020 H1=[[-c1 -s1 -s1*dx+c1*dy ]; 0021 [ s1 -c1 -c1*dx-s1*dy ]; 0022 [ 0 0 -1 ]]; 0023 0024 H2=[[ c1 s1 0]; 0025 [-s1 c1 0]; 0026 [ 0 0 1]]; 0027 |