reset

Reset internal states for insfilterNonholonomic

Syntax

reset(FUSE)

Description

reset(FUSE) resets the State, StateCovariance, and internal integrators to their default values.

Examples

Reset State of insfilterNonholonomic

Create an insfilterNonholonomic object and set its sample rate to 10 Hz.

filter = insfilterNonholonomic(IMUSampleRate=10);

Predict the state of the filter based on an accelerometer reading of [1 1 1] $\mathrm{m}/{\mathrm{s}}^2$ and a gyroscope reading of [1 1 0] rad/s. Display the filter state.

predict(filter,[1 1 1],[1 1 0]);
disp(filter.State')

    0.9975    0.0499    0.0499         0         0         0         0         0         0         0   -0.1000   -0.1000    0.8810         0         0         0

Reset and display the filter state.

reset(filter)
disp(filter.State')

     1     0     0     0     0     0     0     0     0     0     0     0     0     0     0     0

Input Arguments

FUSE — insfilterNonholonomic object

object

insfilterNonholonomic, specified as an object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2018b