?? draw_features.m
字號:
function draw_features (features, color)
%-------------------------------------------------------
% University of Zaragoza
% Centro Politecnico Superior
% Robotics and Real Time Group
% Authors: J. Neira, J. Tardos
% Date : 7-2002
%-------------------------------------------------------
% function draw_features (features, color)
%
% plots the point features, whose coordinates
% appear in features.x
%-------------------------------------------------------
global configuration;
axis equal;
hold on;
title(sprintf('Stochastic map with %d features', features.n));
x = features.x(1:2:end);
y = features.x(2:2:end);
if configuration.draw_trunks
draw_radius(x, y, features.radius, color);
end
if configuration.draw_ellipses
for p = 1:length(x),
feat = obtain_feature (features, p);
draw_ellipse (feat.x, feat.P, color);
end
end
plot(x, y, [color '.']);
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