?? vehicle_noise.m
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function [x_new_noise] = vehicle_noise(delta,x_old)
% output: x_new_noise = noisy,reel state of the vehicle [x,y,w]
% input : delta [delta_v,delta_w] for non-holonomic-robot | x_old =
% x_new_real one time step before
% error due to odometry
global odomtrie_var
% model 2
delta_v = delta(1)+randn(1).*sqrt(odomtrie_var(1))
delta_w = delta(2)+randn(1).*sqrt(odomtrie_var(2))
x_new_noise = x_old + [cos(x_old(3));sin(x_old(3));0].*delta_v +[0;0;1].*delta_w;
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