augment_associate_known.m

基于EKF的机器人SLAM演示程序, 对于搞机器人定位及地图构建的朋友会有一定帮助, 这个版本用的人比较多

function table= augment_associate_known(z,R,idz, table)
%function table = augment_associate_known(z,R,idz, table)
%
% Add the new feature indices to the data-association lookup table
% and then add the features to the state. 
global XX

Nxv= 3; % number of vehicle pose states
Nf= (length(XX) - Nxv)/2; % number of features already in map

table(idz)= Nf + (1:size(z,2)); % add new feature positions to lookup table
augment(z,R); % add new features to state