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ekfSLAM
Reset state and state estimation error covariance
Since R2021b
reset(slamObj)
example
reset(slamObj) resets the state and state estimation error covariance to their default values, and resets the internal states.
slamObj
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Specify the initial vehicle state.
initialState = [1; -2; 0.1];
Specify the initial vehicle state covariance.
initialStateCovar = 0.1*eye(3);
Create an ekfSLAM object with initial state and initial state covariance.
ekfSlamObj = ekfSLAM('State',initialState, ... 'StateCovariance',initialStateCovar);
Get the state and the state covariance from the ekfSLAM object.
ekfSlamObj.State
ans = 3×1 1.0000 -2.0000 0.1000
ekfSlamObj.StateCovariance
ans = 3×3 0.1000 0 0 0 0.1000 0 0 0 0.1000
Reset the state and state estimation error covariance to the default value.
reset(ekfSlamObj)
ans = 3×1 0 0 0
ans = 3×3 1 0 0 0 1 0 0 0 1
EKF SLAM object, specified as an ekfSLAM object.
Introduced in R2021b
correct
landmarkInfo
poseHistory
predict
removeLandmark
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