Home > src > demos > ekf_sine_demo > ekf_sine_f.m

ekf_sine_f

PURPOSE ^

Dynamical model function for the random sine signal demo

SYNOPSIS ^

function x_n = ekf_sine_f(x,param)

DESCRIPTION ^

 Dynamical model function for the random sine signal demo

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 % Dynamical model function for the random sine signal demo
0002 
0003 % Copyright (C) 2007 Jouni Hartikainen
0004 %
0005 % This software is distributed under the GNU General Public
0006 % Licence (version 2 or later); please refer to the file
0007 % Licence.txt, included with the software, for details.
0008 
0009 function x_n = ekf_sine_f(x,param)
0010     dt = param(1);
0011     A = [1 dt 0;0 1 0;0 0 1];
0012     x_n = A*x(1:3,:);
0013     if size(x,1) == 7 || size(x,1) == 6
0014         x_n(1:3,:) = x_n(1:3,:) + x(4:6,:);
0015     end
0016

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