What steps will reproduce the problem?
1. V = diag([0.005, 0.5/pi/180]).^2
2. veh = Vehicle(V)
3. odo = veh.step(1, 0.3)
What is the expected output? What do you see instead?
The expected output is [1 0.3] +- some noise,
The actual output is always exactly [1 0.3]
What version of the product are you using? On what operating system?
I am using Robotics Toolbox v 9.8 on OS X 10.7.5
Matlab version is:
EDU>> ver
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MATLAB Version 7.12.0.635 (R2011a)
MATLAB License Number: STUDENT
Operating System: Mac OS X Version: 10.7.5 Build: 11G63
Java VM Version: Java 1.6.0_37-b06-434-11M3909 with Apple Inc. Java HotSpot(TM)
64-Bit Server VM mixed mode
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MATLAB Version 7.12
(R2011a)
Simulink Version 7.7
(R2011a)
Computer Vision System Toolbox Version 4.0
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Control System Toolbox Version 9.1
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Curve Fitting Toolbox Version 3.1
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DSP System Toolbox Version 8.0
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Fixed-Point Toolbox Version 3.3
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Global Optimization Toolbox Version 3.1.1
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Image Acquisition Toolbox Version 4.1
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Image Processing Toolbox Version 7.2
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Partial Differential Equation Toolbox Version 1.0.18
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Robotics Toolbox Version 9.8.0
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SimElectronics Version 1.6
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SimMechanics Version 3.2.2
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Statistics Toolbox Version 7.5
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Symbolic Math Toolbox Version 5.6
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Please provide any additional information below.
According to the matlab documentation here:
http://www.mathworks.com/help/matlab/ref/if.html, this is the expected behavior
if the matrix contains zeros.
The offending line appears to be Vehicle.m:302 - 304, which is
if veh.V
odo = veh.odometry + randn(1,2)*veh.V;
end
I believe it should read
if any(veh.V)
odo = veh.odometry + randn(1,2)*veh.V;
end
This checks if veh.V has any non-zero elements, rather than if it has all
non-zero elements.
Original issue reported on code.google.com by John.A.D...@gmail.com on 23 Feb 2013 at 7:30
Original issue reported on code.google.com by
John.A.D...@gmail.comon 23 Feb 2013 at 7:30