Institut de Robòtica i Informàtica Industrial

GetCrossCovarianceWithPose

PURPOSE ^

Cross covariance of a given pose with the current one.

SYNOPSIS ^

function CC=GetCrossCovarianceWithPose(FF,step)

DESCRIPTION ^

 Cross covariance of a given pose with the current one.
 
 Returns the croos covariance of the pose at time slice 'step' with the
 current robot's pose.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • get Get function for robots.
  • get Get function for trajectories.
  • get Get function for EKF filters.
  • GetPoseCovariance Marginal covariance of a given pose.
  • Step2State Returns the state correspoinding to a step.
  • get Generic get function for filters.
  • GetPoseCovariance Covariance estimation of a given pose.
  • get Get function for TRO filters.
  • get Get function for BTrees.
  • get Get function for PoseData objects.
  • get Get function for Gaussians.
  • get Get function for poses.
  • get Generic get for relative positioning sensors
  • get Generic get for sensors
This function is called by:
  • GetMarginalCovariance Marginal covariance between the current pose and a previous one.
  • GetPoseData Defines a PoseData objects from the information stored in the filter.
  • get Generic get function for filters.

SOURCE CODE ^

0001 function CC=GetCrossCovarianceWithPose(FF,step)
0002 % Cross covariance of a given pose with the current one.
0003 %
0004 % Returns the croos covariance of the pose at time slice 'step' with the
0005 % current robot's pose.
0006 
0007   cs=get(FF,'nSteps'); % current step
0008   
0009   if step<cs
0010     CC=get(FF.PoseData{Step2State(FF.P_Filter,step)},'crossCovarianceData')*FF.F;
0011   else
0012     CC=GetPoseCovariance(FF,step);
0013   end


Institut de Robòtica i Informàtica Industrial

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