moshanATucsd

import numpy as np
import numpy.linalg as la
import matplotlib.pyplot as plt
from matplotlib.patches import Ellipse
# import time


# http://stackoverflow.com/questions/14016898/port-matlab-bounding-ellipsoid-code-to-python
# http://stackoverflow.com/questions/1768197/bounding-ellipse/1768440#1768440

moshanATucsd

import numpy as np
import matplotlib.pyplot as plt
from matplotlib.patches import Ellipse
import matplotlib.transforms as transforms

def confidence_ellipse(x, y, ax, n_std=3, **kwargs):
    """
    Create a plot of the covariation confidence ellipse op `x` and `y`

    Parameters

moshanATucsd

#!/usr/bin/env python

import rospy
from nav_msgs.msg import Odometry, Path
from geometry_msgs.msg import PoseStamped

class OdomToPath:
    def __init__(self):
        self.path_pub = rospy.Publisher('~path', Path, latch=True, queue_size=10)
        self.odom_sub = rospy.Subscriber('~odom', Odometry, self.odom_cb, queue_size=10)