Institut de Robòtica i Informàtica Industrial

set

PURPOSE ^

Set functino for PoseData objects.

SYNOPSIS ^

function PD=set(PD,field,varargin)

DESCRIPTION ^

 Set functino for PoseData objects.

 Changes the information stored in a PoseData
 The possible fields to change are
      - mean: The mean.
      - covariance: The covariance.
      - crossCovarianceData: The data from where to compute the cross covariance
        between the current robot's pose and the pose (or poses)
        represented by the PoseData.
      - id: The identifier of identifiers of the poses represented by the
        PosesData.
      - info: Changes the mean, the covariance and the crossCovarianceData
        in one shot.
      - updateInfo: Changes the mean, and the crossCovarianceData
        in one shot and decreases the covariance with a given amount.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:

SOURCE CODE ^

0001 function PD=set(PD,field,varargin)
0002 % Set functino for PoseData objects.
0003 %
0004 % Changes the information stored in a PoseData
0005 % The possible fields to change are
0006 %      - mean: The mean.
0007 %      - covariance: The covariance.
0008 %      - crossCovarianceData: The data from where to compute the cross covariance
0009 %        between the current robot's pose and the pose (or poses)
0010 %        represented by the PoseData.
0011 %      - id: The identifier of identifiers of the poses represented by the
0012 %        PosesData.
0013 %      - info: Changes the mean, the covariance and the crossCovarianceData
0014 %        in one shot.
0015 %      - updateInfo: Changes the mean, and the crossCovarianceData
0016 %        in one shot and decreases the covariance with a given amount.
0017 
0018   switch field
0019     case 'mean'
0020       PD.m=varargin{1};
0021     case 'covariance'
0022       PD.S=varargin{1};
0023     case 'crossCovarianceData'
0024       PD.CS=varargin{1};
0025     case 'id'
0026       PD.id=varargin{1};
0027     case 'info'
0028       PD.m=varargin{1};
0029       PD.S=varargin{2};
0030       PD.CS=varargin{3};
0031     case 'updateInfo'
0032       PD.m=varargin{1};
0033       PD.S=PD.S-varargin{2};
0034       PD.CS=varargin{3};
0035     otherwise
0036       error('Unknown field in PoseData set');
0037   end
0038   PD.isInterval=(isa(PD.m,'interval')||isa(PD.S,'interval')||isa(PD.CS,'interval'));


Institut de Robòtica i Informàtica Industrial

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