Home > Matching_SYM_LSM > src > 2D_LSM_62 > 2D_LSM_62_sym_Functions > finalize_sym_lsm.m

finalize_sym_lsm

PURPOSE ^

% finalize matching

SYNOPSIS ^

function est_x = finalize_sym_lsm(iter,xa,est_xa,plot_type)

DESCRIPTION ^

% finalize matching

 wf 7/2020

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function est_x = finalize_sym_lsm(...
0002     iter,...
0003     xa,...
0004     est_xa,...
0005     plot_type)
0006 
0007 %% finalize matching
0008 %
0009 % wf 7/2020
0010 
0011 N_iter=iter  ;
0012 % square parameters
0013 Tg_esta.x = [reshape(xa(1:6),2,3);[0 0 1]];
0014 A_est     = Tg_esta.x*Tg_esta.x;
0015 Tr_esta.x = [xa(7:8)';0 1];
0016 R_est     = Tr_esta.x*Tr_esta.x;
0017 
0018 % derive CovM
0019 a     = est_xa.x;
0020 J = [2*a(1)  a(3)      a(2)      0    0      0        0             0;
0021     a(2)   a(1)+a(4)   0       a(2)   0      0        0             0;
0022     a(3)     0      a(1)+a(4)  a(3)   0      0        0             0;
0023     0      a(3)       a(2)    2*a(4)  0      0        0             0;
0024     a(5)     0       a(6)      0    a(1)+1 a(3)       0             0;
0025     0      a(5)       0       a(6)  a(2)   a(4)+1     0             0;
0026     0        0        0        0      0      0      2*a(7)          0;
0027     0        0        0        0      0      0        a(8)      1+a(7)  ];
0028 C_yy = J * est_xa.C * J';
0029 if plot_type > 0
0030     disp('=== Final result =============================================')
0031 end
0032 if plot_type > 1
0033     Sigma_rho =  covariance_2_sigma_rho(C_yy)
0034 end
0035 
0036 % set estimated values
0037 est_x.x  = [reshape(A_est(1:2,:),6,1);R_est(1,:)'];
0038 est_x.C  = C_yy;
0039 if plot_type > 1
0040     sigmas   = diag(sqrt(C_yy))'
0041     A_est    = A_est(1:3,:)
0042     Sigmas_A = reshape(sigmas(1:6),2,3)
0043     R_est    = R_est(1,1:2)
0044     Sigmas_R = sigmas(7:8)
0045 end
0046 est_x.Ah = A_est;
0047 est_x.R  = R_est;
0048 
0049 end
0050

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