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main_demo_uncertain_frames

PURPOSE ^

% demo uncertain frames: rotations, motion(s), motions(z)

SYNOPSIS ^

This is a script file.

DESCRIPTION ^

% demo uncertain frames: rotations, motion(s), motions(z)

 1. Jacobians for adjoint, inverse, concatenation and difference
 2. Generate and statistically test uncertain frames 

 Basic representations as structs

 rotations: R.R = [3x3] and R.C = [3x3]
 motions 
     in exponential (s) and partially exponential (z) representation   
     Ms.Ms and Mz.Mz = [4x4] and Ms.Cs and Mz.Cz = [6x6]
 
 rotation pairs
     Rp.Rp = [R1,R2]=[3x6] and Rp.Cp = [6x6]
 motion pairs:   
     Msp.Msp and Mzp.Mzp = [M1,M2]=[4x8] and Msp.Csp and Mzp.Czp = [12x12]

 wf 05/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 %% demo uncertain frames: rotations, motion(s), motions(z)
0002 %
0003 % 1. Jacobians for adjoint, inverse, concatenation and difference
0004 % 2. Generate and statistically test uncertain frames
0005 %
0006 % Basic representations as structs
0007 %
0008 % rotations: R.R = [3x3] and R.C = [3x3]
0009 % motions
0010 %     in exponential (s) and partially exponential (z) representation
0011 %     Ms.Ms and Mz.Mz = [4x4] and Ms.Cs and Mz.Cz = [6x6]
0012 %
0013 % rotation pairs
0014 %     Rp.Rp = [R1,R2]=[3x6] and Rp.Cp = [6x6]
0015 % motion pairs:
0016 %     Msp.Msp and Mzp.Mzp = [M1,M2]=[4x8] and Msp.Csp and Mzp.Czp = [12x12]
0017 %
0018 % wf 05/2020
0019 %
0020 
0021 clearvars
0022 close all
0023 clc
0024 
0025 
0026 display('----------------------------------------------------------')
0027 display('----------------- demo uncertain frames  -----------------')
0028 display('----------------------------------------------------------')
0029 
0030 %% control parameters
0031 
0032 init_rand = 0;              % start seed for random numbers
0033 init_rand_seed(init_rand);
0034 
0035 S         = 0.999;          % significance level
0036 
0037 b_output  = 1;              % short or long output
0038 %b_output  = 0;
0039 
0040 sigma_g   = 1;              % for generating frames
0041 
0042 sigma_n   = 10^-6;          % noise component
0043 
0044 N_samples = 100;             % number of samples for testing
0045 
0046 %% generate data
0047 [R0p,M0p,Cp,R,Ms,Mz,Rp,Msp,Mzp,Rs,Mss,Mzs]=...
0048     generate_test_data_uncertain_frames(sigma_g,sigma_n,N_samples);
0049    %generate_test_data_uncertain_frames
0050    %generate_test_data_uncertain_frames
0051 
0052 
0053 %% checks
0054 check_basics_rotations(R,Rp,b_output)
0055 
0056 check_basics_motions_s(Ms,Msp,b_output)
0057 
0058 check_basics_motions_z(Mz,Mzp,b_output)
0059 
0060 display(' ')
0061 
0062 check_simulated_rotation(R0p(1:3,1:3),Cp(1:3,1:3),Rs,S);
0063 
0064 check_simulated_motion_s(M0p(1:4,1:4),Cp(1:6,1:6),Mss,S)
0065 
0066 check_simulated_motion_z(M0p(1:4,1:4),Cp(1:6,1:6),Mzs,S)
0067 
0068 display(' ')
0069 display('----------------------------------------------------------')
0070 display('--------------- end demo uncertain frames  ---------------')
0071 display('----------------------------------------------------------')
0072 
0073 return
0074 
0075 
0076  
0077

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