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UpdatePURPOSE
Adds a pose to the filter.
SYNOPSIS
function F=Update(F,step,overwritePose)
DESCRIPTION
Adds a pose to the filter. Updates the generic filter information when a new pose is added to the trajectory. The parameters are not used but we keep them for compatibility with the particular Update methods for specific filters. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function F=Update(F,step,overwritePose) 0002 % Adds a pose to the filter. 0003 % 0004 % Updates the generic filter information when a new pose is added to the 0005 % trajectory. 0006 % The parameters are not used but we keep them for compatibility with the 0007 % particular Update methods for specific filters. 0008 % 0009 if overwritePose 0010 F.Step2State(F.State2Step(F.nStates))=-1; 0011 else 0012 F.nStates=F.nStates+1; 0013 end 0014 0015 F.nSteps=F.nSteps+1; % == step 0016 F.State2Step(F.nStates)=step; 0017 F.Step2State(step)=F.nStates; 0018 |