https://github.com/RomaTeng/EKF-SLAM-on-Manifold
Revision f32259f3994a80ae6693c8b1f6f367fc04bd44fc authored by Kanzhi Wu on 27 June 2016, 12:45:06 UTC, committed by Kanzhi Wu on 27 June 2016, 12:45:06 UTC
1 parent f19c491
Tip revision: f32259f3994a80ae6693c8b1f6f367fc04bd44fc authored by Kanzhi Wu on 27 June 2016, 12:45:06 UTC
update, not finished yet, do no modify, test rms and nees under multiple runs
update, not finished yet, do no modify, test rms and nees under multiple runs
Tip revision: f32259f
compute_rms_nees_ave.m
function [rms, nees] = compute_rms_nees_ave( rmsall, neesall )
% compute rms and nees from multiple tests
nsteps = size(rmsall.position, 2);
ntests = size(rmsall.position, 1);
% compute rms
rmspos_sum = sum(rmsall.position.^2, 1);
rms.position = sqrt(rmspos_sum/ntests);
rmsori_sum = sum(rmsall.orientation.^2, 1);
rms.orientation = sqrt(rmsori_sum/ntests);
% compute nees
neesall_pose = neesall.pose(2:end);
neesall_orientation = neesall.orientation(2:end);
neespose_sum = sum(neesall_pose, 1);
nees.pose = neespose_sum/ntests;
neesorientation_sum = sum(neesall_orientation, 1);
nees.orientation = neesorientation_sum/ntests;
Computing file changes ...
