localize.m File Reference

Functions
	y (1)-y(end)]
Variables
function	xhat
	beacon = desc.area.beacon
	beta = Phi(3)
	alpha = Phi(2)
	theta = beacon_angle(1, beacon)
	phi = beacon_angle(2, beacon)
	psi = beacon_angle(3, beacon)
	q = sin(phi)/sin(theta)*sin(alpha)/sin(beta)
	return
end	omega = 2*pi-psi-alpha-beta
	delta = atan2(sin(omega), 1/q+cos(omega))
	v32 = beacon(2,:)-beacon(3,:)
	l1ang = atan2(v32(2), v32(1)) -pi+delta
	a = norm(beacon(2,:)-beacon(3,:))
	l1 = a/sin(alpha)*sin(pi-alpha-delta)
	r = beacon(2,:)+l1*[cos(l1ang) sin(l1ang)]
	angle = mean(atan2(beacon(:,2)-r(2), beacon(:,1)-r(1))-y)
	prev = mod(b-1-1, beacons)+1
	next = mod(b-1+1, beacons)+1
	bp = beacon(prev,:)
	bn = beacon(next,:)
	bb = beacon(b,:)
	v1 = bp-bb
	v2 = bn-bb

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Function Documentation

y

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1

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Variable Documentation

a = norm(beacon(2,:)-beacon(3,:))

alpha = Phi(2)

function angle = mean(atan2(beacon(:,2)-r(2), beacon(:,1)-r(1))-y)

bb = beacon(b,:)

beacon = desc.area.beacon

beta = Phi(3)

bn = beacon(next,:)

bp = beacon(prev,:)

delta = atan2(sin(omega), 1/q+cos(omega))

l1 = a/sin(alpha)*sin(pi-alpha-delta)

l1ang = atan2(v32(2), v32(1)) -pi+delta

next = mod(b-1+1, beacons)+1

end omega = 2*pi-psi-alpha-beta

phi = beacon_angle(2, beacon)

prev = mod(b-1-1, beacons)+1

psi = beacon_angle(3, beacon)

if q = sin(phi)/sin(theta)*sin(alpha)/sin(beta)

r = beacon(2,:)+l1*[cos(l1ang) sin(l1ang)]

return

theta = beacon_angle(1, beacon)

v1 = bp-bb

v2 = bn-bb

v32 = beacon(2,:)-beacon(3,:)

if xhat

Initial value:

 localize(y)
init
Phi=[diff(y)