removeLandmark
Description
removeLandmark(
removes the landmarks at the specified indices slamObj
,landmarkIndex
)landmarkIndex
from the
state vector, along with associated covariances from the state covariance matrix.
Examples
Remove Landmark from ekfSLAM
Object
Specify the initial vehicle state.
initialState = [1; -2; 0.1];
Specify the initial landmark positions.
landmarkPosition = [15.8495; -12.9496; 25.2455; -15.4705; 37.5880; 3.1023; 16.5690; 2.7466];
Specify the initial vehicle state covariance.
initialStateCovar = diag([0.1*ones(1,3) 1.1*ones(1,8)]);
Create an ekfSLAM
object with initial state and initial state covariance.
ekfSlamObj = ekfSLAM('State',[initialState; landmarkPosition], ... 'StateCovariance',initialStateCovar); landmarkInfo(ekfSlamObj)
ans=4×3 table
landmark number landmark state index landmark position
_______________ ____________________ _________________
1 4 5 15.85 -12.95
2 6 7 25.245 -15.47
3 8 9 37.588 3.1023
4 10 11 16.569 2.7466
Create a deep copy of the ekfSLAM
object.
newEkfSlamObj = copy(ekfSlamObj);
Specify the landmark number to be removed.
removeLandmark(newEkfSlamObj,3); landmarkInfo(newEkfSlamObj)
ans=3×3 table
landmark number landmark state index landmark position
_______________ ____________________ _________________
1 4 5 15.85 -12.95
2 6 7 25.245 -15.47
3 8 9 16.569 2.7466
Input Arguments
slamObj
— EKF SLAM object
ekfSLAM
object
EKF SLAM object, specified as an ekfSLAM
object.
landmarkIndex
— Indices of landmarks to remove
N-element column vector | N-by-2 matrix
Indices of the landmarks to remove, specified as an N-element column vector of landmark numbers in the state vector or an N-by-2 matrix of the exact positions of landmarks in the state vector. N is the number of landmarks to remove.
Data Types: single
| double
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2021b
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