function

SLAM.Simulation.landmarkGrid

Fixed planar landmarks with stable row-major identities

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`rows`	`Integer`	`(min=1)`
input	`columns`	`Integer`	`(min=1)`
input	`spacing_m`	`Real`	`(min=0.0)`
input	`centerWorld_m`	`Real`	`[3] = zeros(3)`
output	`landmarksWorld_m`	`Real`	`[rows * columns, 3]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function landmarkGrid "Fixed planar landmarks with stable row-major identities"
  input Integer rows(min=1);
  input Integer columns(min=1);
  input Real spacing_m(min=0.0);
  input Real centerWorld_m[3] = zeros(3);
  output Real landmarksWorld_m[rows * columns, 3];
protected
  Integer row;
  Integer column;
algorithm
  row := 1;
  column := 1;
  for landmark in 1:rows * columns loop
    landmarksWorld_m[landmark, :] := centerWorld_m
      + {(column - 0.5 * (columns + 1)) * spacing_m,
         (row - 0.5 * (rows + 1)) * spacing_m, 0.0};
    column := column + 1;
    if column > columns then
      column := 1;
      row := row + 1;
    end if;
  end for;
end landmarkGrid;