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AddNoise2RelativePURPOSE
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:
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 |