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get_cube_axis_data.m
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% 3D Cube Drawing module
% This is a basic INS/GNSS loosely-coupled system using EKF
% This is only a DEMO with basic updates (position/velocity) are applied
% More advanced updates such as nonholonomic constraints, zero-speed, and
% adaptive EKF are NOT implemented in this DEMO. The purpose of the DEMO
% is to demonstrate the basics of EKF in a basic INS/GNSS fusion scenario
% For commercial use or embdded C/C++ versions, please contact [email protected]
% Copyright (C) 2018, Mohamed Atia, all rights reserved.
% The software is given under GNU Lesser General Public License
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU Lesser General Public License for more details.
%
% You should have received a copy of the GNU Lesser General Public
% License along with this program. If not, see
% <http://www.gnu.org/licenses/>.
% For commercial use or embdded C/C++ versions, please contact [email protected]
function [ CubeXData , CubeYData , CubeZData ] = get_cube_axis_data( ver )
CubeXData = [[ver(1,1);ver(2,1);ver(3,1);ver(4,1)] [ver(4,1);ver(3,1);ver(5,1);ver(6,1)]...
[ver(6,1);ver(7,1);ver(8,1);ver(5,1)] [ver(1,1);ver(2,1);ver(8,1);ver(7,1)]...
[ver(6,1);ver(7,1);ver(1,1);ver(4,1)] [ver(2,1);ver(3,1);ver(5,1);ver(8,1)]...
[ver(1,1);ver(4,1);ver(10,1);ver(9,1)]...
[ver(4,1);ver(10,1);ver(6,1);ver(6,1)]...
[ver(6,1);ver(10,1);ver(9,1);ver(7,1)]...
[ver(1,1);ver(9,1);ver(7,1);ver(7,1)]...
%[ver(11,1);ver(12,1);ver(13,1);ver(13,1)]...
%[ver(14,1);ver(15,1);ver(16,1);ver(16,1)]...
%[ver(17,1);ver(18,1);ver(19,1);ver(19,1)]...
];
CubeYData = [[ver(1,2);ver(2,2);ver(3,2);ver(4,2)] [ver(4,2);ver(3,2);ver(5,2);ver(6,2)]...
[ver(6,2);ver(7,2);ver(8,2);ver(5,2)] [ver(1,2);ver(2,2);ver(8,2);ver(7,2)]...
[ver(6,2);ver(7,2);ver(1,2);ver(4,2)] [ver(2,2);ver(3,2);ver(5,2);ver(8,2)]...
[ver(1,2);ver(4,2);ver(10,2);ver(9,2)]...
[ver(4,2);ver(10,2);ver(6,2);ver(6,2)]...
[ver(6,2);ver(10,2);ver(9,2);ver(7,2)]...
[ver(1,2);ver(9,2);ver(7,2);ver(7,2)]...
%[ver(11,2);ver(12,2);ver(13,2);ver(13,2)]...
%[ver(14,2);ver(15,2);ver(16,2);ver(16,2)]...
%[ver(17,2);ver(18,2);ver(19,2);ver(19,2)]...
];
CubeZData = [[ver(1,3);ver(2,3);ver(3,3);ver(4,3)] [ver(4,3);ver(3,3);ver(5,3);ver(6,3)]...
[ver(6,3);ver(7,3);ver(8,3);ver(5,3)] [ver(1,3);ver(2,3);ver(8,3);ver(7,3)]...
[ver(6,3);ver(7,3);ver(1,3);ver(4,3)] [ver(2,3);ver(3,3);ver(5,3);ver(8,3)]...
[ver(1,3);ver(4,3);ver(10,3);ver(9,3)]...
[ver(4,3);ver(10,3);ver(6,3);ver(6,3)]...
[ver(6,3);ver(10,3);ver(9,3);ver(7,3)]...
[ver(1,3);ver(9,3);ver(7,3);ver(7,3)]...
%[ver(11,3);ver(12,3);ver(13,3);ver(13,3)]...
%[ver(14,3);ver(15,3);ver(16,3);ver(16,3)]...
%[ver(17,3);ver(18,3);ver(19,3);ver(19,3)]...
];
end