%PREDICT Apply odometry model for differential drive robot. % [R,FXR,PATH] = PREDICT(R,ENC,PARAMS) % calculates the final pose and final pose covariance matrix given % a start pose, a start pose covariance matrix and the angular wheel % displacements in ENC. PARAMS contains the robot model and the % error growth coefficients. % % Input arguments: % R : differential drive robot object with start pose R.X, R.C % ENC : structure with fields % ENC.PARAMS.KL: error growth coefficient of left wheel % ENC.PARAMS.KR: error growth coefficient of right wheel % with unit in [1/m]. % ENC.STEPS(i).DATA1: angular displacements of left wheel % ENC.STEPS(i).DATA2: angular displacements of right wheel % in [rad] and monotonically increasing % PARAMS.B : wheelbase in [m]. Distance between the two wheel % contact points % PARAMS.RL: radius of left wheel in [m] % PARAMS.RR: radius of right wheel in [m] % % Output arguments: % R : differential drive robot object with final pose R.X, R.C % FXR : 3x3 process model Jacobian matrix linearized with % respect to XROUT % PATH : array of structure with fields PATH(i).X (3x1) and % PATH(i).C (3x3) which holds the poses and the pose % covariance matrices over the path % % The function implements an error model for differential drive % robots which models non-systematic odometry errors in the wheel % space and propagates them through the robot kinematics onto the % x,y,theta-pose level. % % Reference: % K.S. Chong, L. Kleeman, "Accurate Odometry and Error Modelling % for a Mobile Robot," IEEE International Conference on Robotics % and Automation, Albuquerque, USA, 1997. % % See also SLAM. % v.1.1, ~2000, Kai Arras, ASL-EPFL, Felix Wullschleger, IfR-ETHZ % v.1.2, 29.11.2003, Kai Arras, CAS-KTH: toolbox version function [r,Fxr,path] = predict(r,enc)
When I try to run this complete code, it asks me to input values for R and Enc. I am not sure whether they are just one digit values or a matrix. Can anyone help me by looking at the description in the code, what kind of input is required.