projection.eps

这是移动机器人同时定位与地图创建的第三部分

%!PS-Adobe-2.0 EPSF-2.0
%%Title: projection.fig
%%Creator: fig2dev Version 3.2 Patchlevel 4
%%CreationDate: Sun Sep 11 20:36:58 2005
%%For: [e-mail] (Matthew Walter)
%%BoundingBox: 0 0 781 496
%%Magnification: 1.0000
%%EndComments
/$F2psDict 200 dict def
$F2psDict begin
$F2psDict /mtrx matrix put
/col-1 {0 setgray} bind def
/col0 {0.000 0.000 0.000 srgb} bind def
/col1 {0.000 0.000 1.000 srgb} bind def
/col2 {0.000 1.000 0.000 srgb} bind def
/col3 {0.000 1.000 1.000 srgb} bind def
/col4 {1.000 0.000 0.000 srgb} bind def
/col5 {1.000 0.000 1.000 srgb} bind def
/col6 {1.000 1.000 0.000 srgb} bind def
/col7 {1.000 1.000 1.000 srgb} bind def
/col8 {0.000 0.000 0.560 srgb} bind def
/col9 {0.000 0.000 0.690 srgb} bind def
/col10 {0.000 0.000 0.820 srgb} bind def
/col11 {0.530 0.810 1.000 srgb} bind def
/col12 {0.000 0.560 0.000 srgb} bind def
/col13 {0.000 0.690 0.000 srgb} bind def
/col14 {0.000 0.820 0.000 srgb} bind def
/col15 {0.000 0.560 0.560 srgb} bind def
/col16 {0.000 0.690 0.690 srgb} bind def
/col17 {0.000 0.820 0.820 srgb} bind def
/col18 {0.560 0.000 0.000 srgb} bind def
/col19 {0.690 0.000 0.000 srgb} bind def
/col20 {0.820 0.000 0.000 srgb} bind def
/col21 {0.560 0.000 0.560 srgb} bind def
/col22 {0.690 0.000 0.690 srgb} bind def
/col23 {0.820 0.000 0.820 srgb} bind def
/col24 {0.500 0.190 0.000 srgb} bind def
/col25 {0.630 0.250 0.000 srgb} bind def
/col26 {0.750 0.380 0.000 srgb} bind def
/col27 {1.000 0.500 0.500 srgb} bind def
/col28 {1.000 0.630 0.630 srgb} bind def
/col29 {1.000 0.750 0.750 srgb} bind def
/col30 {1.000 0.880 0.880 srgb} bind def
/col31 {1.000 0.840 0.000 srgb} bind def

end
save
newpath 0 496 moveto 0 0 lineto 781 0 lineto 781 496 lineto closepath clip newpath
-7.2 574.6 translate
1 -1 scale

/cp {closepath} bind def
/ef {eofill} bind def
/gr {grestore} bind def
/gs {gsave} bind def
/sa {save} bind def
/rs {restore} bind def
/l {lineto} bind def
/m {moveto} bind def
/rm {rmoveto} bind def
/n {newpath} bind def
/s {stroke} bind def
/sh {show} bind def
/slc {setlinecap} bind def
/slj {setlinejoin} bind def
/slw {setlinewidth} bind def
/srgb {setrgbcolor} bind def
/rot {rotate} bind def
/sc {scale} bind def
/sd {setdash} bind def
/ff {findfont} bind def
/sf {setfont} bind def
/scf {scalefont} bind def
/sw {stringwidth} bind def
/tr {translate} bind def
/tnt {dup dup currentrgbcolor
  4 -2 roll dup 1 exch sub 3 -1 roll mul add
  4 -2 roll dup 1 exch sub 3 -1 roll mul add
  4 -2 roll dup 1 exch sub 3 -1 roll mul add srgb}
  bind def
/shd {dup dup currentrgbcolor 4 -2 roll mul 4 -2 roll mul
  4 -2 roll mul srgb} bind def
 /DrawEllipse {
	/endangle exch def
	/startangle exch def
	/yrad exch def
	/xrad exch def
	/y exch def
	/x exch def
	/savematrix mtrx currentmatrix def
	x y tr xrad yrad sc 0 0 1 startangle endangle arc
	closepath
	savematrix setmatrix
	} def

/$F2psBegin {$F2psDict begin /$F2psEnteredState save def} def
/$F2psEnd {$F2psEnteredState restore end} def

$F2psBegin
10 setmiterlimit
0 slj 0 slc
 0.06000 0.06000 sc
%
% Fig objects follow
%
% 
% here starts figure with depth 50
/Times-Roman ff 180.00 scf sf
120 6525 m
gs 1 -1 sc (f1) col0 sh gr
/Times-Roman ff 180.00 scf sf
2481 2758 m
gs 1 -1 sc (v) col0 sh gr
% Polyline
%
% pen to black in case this eps object doesn't set color first
0 0 0 setrgbcolor
%***********************************************************************
%*                                                                     *
%* Object: Image decoding PS-routine                    Date: 01.02.93 *
%* Author: Evgeni CHERNYAEV ([e-mail])                  *
%*                                                                     *
%* Function: Display a run-length encoded color image.                 *
%*           The image is displayed in color on viewers and printers   *
%*           that support color Postscript, otherwise it is displayed  *
%*           as grayscale.                                             *
%*                                                                     *
%***********************************************************************
/byte 1 string def
/color 3 string def
systemdict /colorimage known { /cnt 3 def } { /cnt 1 def } ifelse
/String 256 cnt mul string def
%***********************************************************************
/DecodePacket            % Decode color packet                         *
%***********************************************************************
{
  currentfile byte readhexstring pop 0 get
  /Nbyte exch 1 add cnt mul def
  /color ColorMap currentfile byte readhexstring pop 0 get get def
  String dup
  0 cnt Nbyte 1 sub { color putinterval dup } for
  pop 0 Nbyte getinterval
} bind def
%***********************************************************************
/DisplayImage            % Display run-length encoded color image      *
%***********************************************************************
{
  gsave
  currentfile String readline pop
  token { /columns exch def } { } ifelse
  token { /rows exch def pop } { } ifelse
  currentfile String readline pop
  token { /Ncol exch def pop } { } ifelse
  /ColorMap Ncol array def
  systemdict /colorimage known {
    0 1 Ncol 1 sub {
      ColorMap exch
      currentfile 3 string readhexstring pop put
    } for
    columns rows 8
    [ columns 0 0 rows neg 0 rows ]
    { DecodePacket } false 3 colorimage
  }{
    0 1 Ncol 1 sub {
      ColorMap exch
      1 string dup 0
      currentfile color readhexstring pop pop
      color 0 get 0.299 mul
      color 1 get 0.587 mul add
      color 2 get 0.114 mul add