Main Content

perturb

Apply perturbations to object

Since R2021a

Description

example

offsets = perturb(obj) applies the perturbations defined on the object, obj and returns the offset values. You can define perturbations on the object by using the perturbations function.

Examples

collapse all

Create an insSensor object.

sensor = insSensor
sensor = 
  insSensor with properties:

           MountingLocation: [0 0 0]            m    
               RollAccuracy: 0.2                deg  
              PitchAccuracy: 0.2                deg  
                YawAccuracy: 1                  deg  
           PositionAccuracy: [1 1 1]            m    
           VelocityAccuracy: 0.05               m/s  
       AccelerationAccuracy: 0                  m/s² 
    AngularVelocityAccuracy: 0                  deg/s
                  TimeInput: [1⨯1 logical]           
               RandomStream: 'Global stream'         

Define the perturbation on the RollAccuracy property as three values with an equal possibility each.

values = {0.1 0.2 0.3}
values=1×3 cell array
    {[0.1000]}    {[0.2000]}    {[0.3000]}

probabilities = [1/3 1/3 1/3]
probabilities = 1×3

    0.3333    0.3333    0.3333

perturbations(sensor,'RollAccuracy','Selection',values,probabilities)
ans=7×3 table
            Property                Type                        Value                 
    _________________________    ___________    ______________________________________

    "RollAccuracy"               "Selection"    {1x3 cell}    {[0.3333 0.3333 0.3333]}
    "PitchAccuracy"              "None"         {[   NaN]}    {[                 NaN]}
    "YawAccuracy"                "None"         {[   NaN]}    {[                 NaN]}
    "PositionAccuracy"           "None"         {[   NaN]}    {[                 NaN]}
    "VelocityAccuracy"           "None"         {[   NaN]}    {[                 NaN]}
    "AccelerationAccuracy"       "None"         {[   NaN]}    {[                 NaN]}
    "AngularVelocityAccuracy"    "None"         {[   NaN]}    {[                 NaN]}

Perturb the sensor object using the perturb function.

rng(2020)
perturb(sensor);
sensor
sensor = 
  insSensor with properties:

           MountingLocation: [0 0 0]            m    
               RollAccuracy: 0.5                deg  
              PitchAccuracy: 0.2                deg  
                YawAccuracy: 1                  deg  
           PositionAccuracy: [1 1 1]            m    
           VelocityAccuracy: 0.05               m/s  
       AccelerationAccuracy: 0                  m/s² 
    AngularVelocityAccuracy: 0                  deg/s
                  TimeInput: [1⨯1 logical]           
               RandomStream: 'Global stream'         

The RollAccuracy is perturbed to 0.5 deg.

Input Arguments

collapse all

Object for perturbation, specified as an object. The objects that you can perturb include:

Output Arguments

collapse all

Property offsets, returned as an array of structures. Each structure contains these fields:

Field NameDescription
PropertyName of perturbed property
OffsetOffset values applied in the perturbation
PerturbedValueProperty values after the perturbation

Version History

Introduced in R2021a