reset

Reset state and state estimation error covariance

Syntax

reset(slamObj)

Description

reset(slamObj) resets the state and state estimation error covariance to their default values, and resets the internal states.

Examples

Reset State and State Estimation Error Covariance in ekfSLAM Object

Specify the initial vehicle state.

initialState = [1; -2; 0.1];

Specify the initial vehicle state covariance.

initialStateCovar = 0.1*eye(3);

Create an ekfSLAM object with initial state and initial state covariance.

ekfSlamObj = ekfSLAM('State',initialState, ...
                     'StateCovariance',initialStateCovar);

Get the state and the state covariance from the ekfSLAM object.

ekfSlamObj.State

ans = 3×1

    1.0000
   -2.0000
    0.1000

ekfSlamObj.StateCovariance

ans = 3×3

    0.1000         0         0
         0    0.1000         0
         0         0    0.1000

Reset the state and state estimation error covariance to the default value.

reset(ekfSlamObj)

Get the state and the state covariance from the ekfSLAM object.

ekfSlamObj.State

ans = 3×1

     0
     0
     0

ekfSlamObj.StateCovariance

ans = 3×3

     1     0     0
     0     1     0
     0     0     1

Input Arguments

slamObj — EKF SLAM object

ekfSLAM object

EKF SLAM object, specified as an ekfSLAM object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2021b