12 lines
344 B
Mathematica
12 lines
344 B
Mathematica
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function y = measurement_Model(X, mNoise)
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% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
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nbDOF = numel(mNoise);
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% Simple additive model:
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% y = X(nbDOF+1:2*nbDOF); % Expected joint position measurement from the encoders
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y = X(nbDOF+1:2*nbDOF) + mNoise; % Expected joint position measurement from the encoders
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end
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