From e167e2696f09d93749290f71e8f4dbccd0af8733 Mon Sep 17 00:00:00 2001
From: cggos <cggos@outlook.com>
Date: Sun, 18 Sep 2022 16:06:32 +0800
Subject: [PATCH 1/2] fixed bug of "undefined function or variable vecnorm"
 when running slamtb_graph

---
 FrameTransforms/Rotations/q2au.m | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/FrameTransforms/Rotations/q2au.m b/FrameTransforms/Rotations/q2au.m
index eb5d214..a1d8460 100644
--- a/FrameTransforms/Rotations/q2au.m
+++ b/FrameTransforms/Rotations/q2au.m
@@ -10,13 +10,13 @@
 if nargout <= 2
     
     v = q(2:4);
-    a = 2*atan2(vecnorm(v),q(1));
+    a = 2*atan2(vnorm(v),q(1));
     u = normvec(v);
     
 else
     s = q(1); % scalar part
     v = q(2:4); % vector part
-    [n, N_v] = vecnorm(v);
+    [n, N_v] = vnorm(v);
     if isnumeric(n)
         a = 2*atan2(n,s);
     else

From dbb796d9aa92ba2affc2a38a0835919567f53970 Mon Sep 17 00:00:00 2001
From: cggos <cggos@outlook.com>
Date: Mon, 6 Feb 2023 23:33:40 +0800
Subject: [PATCH 2/2] update World struct

---
 HighLevel/userDataGraph.m | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/HighLevel/userDataGraph.m b/HighLevel/userDataGraph.m
index b2bb751..b27a883 100644
--- a/HighLevel/userDataGraph.m
+++ b/HighLevel/userDataGraph.m
@@ -37,9 +37,13 @@
 
 % Simulated world
 %   - Simulation landmark sets, playground dimensions
+% World = struct(...
+%   'points',           thickCloister(-6,6,-6,6,1,7),... % 3d point landmarks - see THICKCLOISTER. 
+%   'segments',         []);  % 3D segments - see HOUSE. 
+% [CGGOS]
 World = struct(...
-  'points',           thickCloister(-6,6,-6,6,1,7),... % 3d point landmarks - see THICKCLOISTER. 
-  'segments',         []);  % 3D segments - see HOUSE. 
+    'points', thickCloister(-6,6,-6,6,1,7),...
+    'segments', house(0,0,0,10,10,8));
     
 % Robot things with their controls
 %   - each robot's type and initial configuration, and controls.