function?[VG]=?add_control_noise（VGQ?addnoise）
%?Add?random?noise?to?nominal?control?values

if?addnoise?==?1
%?????V=?V?+?randn（1）*sqrt（Q（11））;?%?if?assume?Q?is?diagonal
%?????G=?G?+?randn（1）*sqrt（Q（22））;
????
?????C=?multivariate_gauss（[V;G]Q?1）;?%?if?Q?might?be?correlated
?????V=?C（1）;?G=?C（2）;
end

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2015-06-18?10:51??FastSLAM\
?????文件????????1143??2013-12-27?16:23??FastSLAM\abc.mat
?????文件?????????321??2004-07-02?11:31??FastSLAM\add_control_noise.m
?????文件?????????483??2004-03-03?19:58??FastSLAM\add_feature.m
?????文件?????????289??2004-02-23?16:23??FastSLAM\add_observation_noise.m
?????文件?????????660??2004-07-19?12:47??FastSLAM\compute_jacobians.m
?????文件?????????977??2004-07-02?10:23??FastSLAM\compute_steering.m
?????文件????????1571??2006-02-17?16:27??FastSLAM\configfile.m
?????文件?????????486??2004-03-01?15:06??FastSLAM\data_associate_known.m
?????文件????????1072??2004-03-26?19:54??FastSLAM\example_webmap.mat
?????目錄???????????0??2015-06-18?10:51??FastSLAM\fastslam1\
?????文件?????????295??2004-03-02?18:41??FastSLAM\fastslam1\compute_weight.m
?????文件????????5992??2014-07-15?20:33??FastSLAM\fastslam1\fastslam1_sim.m
?????文件?????????359??2004-07-19?16:50??FastSLAM\fastslam1\predict.m
?????文件????????1093??2004-06-11?11:21??FastSLAM\fast_to_ekf_diag.m
?????文件?????????667??2004-07-02?10:54??FastSLAM\feature_update.m
?????文件???????54416??2004-02-16?19:18??FastSLAM\frontend.fig
?????文件????????5635??2014-07-12?17:30??FastSLAM\frontend.m
?????文件????????1025??2004-06-18?11:52??FastSLAM\get_observations.m
?????文件?????????611??2004-03-08?13:59??FastSLAM\KF_cholesky_update.m
?????文件?????????621??2004-03-09?11:20??FastSLAM\KF_joseph_update.m
?????文件?????????827??2004-02-13?21:15??FastSLAM\line_plot_conversion.m
?????文件?????????388??2004-07-05?23:16??FastSLAM\multivariate_gauss.m
?????文件?????????577??2004-05-17?21:34??FastSLAM\pi_to_pi.m
?????文件?????????172??2004-07-02?10:26??FastSLAM\predict_true.m
?????文件?????????913??2004-07-19?23:07??FastSLAM\readme.txt
?????文件?????????546??2004-07-19?21:52??FastSLAM\resample_particles.m
?????文件?????????757??2004-07-19?21:49??FastSLAM\sqrtm_2by2.m
?????文件?????????337??2003-12-05?16:15??FastSLAM\stratified_random.m
?????文件?????????567??2004-03-02?10:24??FastSLAM\stratified_resample.m
?????文件?????????433??2004-07-02?10:32??FastSLAM\TransformToGlobal.m
............此處省略1個文件信息