0001 function check_simulated_motion_z(M0,C0,Ms,S)
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0013 N = size(Ms,2);
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0016 zeta_s=zeros(N,6);
0017 for n=1:N
0018 zeta_s(n,:)= calc_z_from_M_M0(reshape(Ms(:,n),4,4),(M0));
0019 end
0020
0021
0022 check_estimation_result(6, zeros(6,1), C0, ones(N,1), zeta_s, S, ' motions z');
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0024 CovM_z=cov(zeta_s);
0025 sigmas_z=sqrt(diag(CovM_z)')
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0029 s_s=zeros(N,6);
0030 for n=1:N
0031 s_s(n,:)= calc_s_from_A(reshape(Ms(:,n),4,4)*inv(M0));
0032 end
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0035 check_estimation_result(6, zeros(6,1), C0, ones(N,1), s_s, S, ' motions z/s');
0036
0037 check_estimation_result(3, zeros(3,1), C0(1:3,1:3), ones(N,1), s_s(:,1:3), S, ' rotations z/s');
0038 check_estimation_result(3, zeros(3,1), C0(4:6,4:6), ones(N,1), s_s(:,4:6), S, ' translations z/s');
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0041 CovM_z_s=cov(s_s);
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0043 sigmas_z_s=sqrt(diag(CovM_z_s)')
0044 end
0045