% The object state vertex:
% x(1) – x
% x(2) – y
% x(3) – theta
% Note that the oplus method has to be used to account for angular
% discontinuities
classdef VehicleStateVertex < g2o.core.BaseVertex properties(Access = protected) T; end methods(Access = public) function this = VehicleStateVertex(T) this=this@g2o.core.BaseVertex(3); this.T = T; end function T = time(this) T = this.T; end function oplus(this, update) % Add the update this.x = this.x + update; % Wrap the angle to [-pi,pi] this.x(3) = g2o.stuff.normalize_theta(this.x(3)); end end end