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PoseDataPURPOSE
PoseData constructor.
SYNOPSIS
function PD=PoseData(varargin)
DESCRIPTION
PoseData constructor. The valid paramters are: - Another PoseData - The mean, marginal covariance, information related to the cross-covariance w.r.t the last robot's pose (named \Phi_i in the paper), and the identifier of the pose . The PoseData is defined for a single pose and then function Union is used to accumulate the information of several poses. This is used when defining a tree of poses, to define the information to be stored in the internal nodes of the tree (they have to summarize the information in the leaves below the tree node). See also Union. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function PD=PoseData(varargin) 0002 % PoseData constructor. 0003 % 0004 % The valid paramters are: 0005 % - Another PoseData 0006 % - The mean, marginal covariance, information related to the 0007 % cross-covariance w.r.t the last robot's pose (named \Phi_i in 0008 % the paper), and the identifier of the pose . 0009 % 0010 % The PoseData is defined for a single pose and then function Union is 0011 % used to accumulate the information of several poses. This is used when 0012 % defining a tree of poses, to define the information to be stored in the 0013 % internal nodes of the tree (they have to summarize the information in 0014 % the leaves below the tree node). 0015 % 0016 % See also Union. 0017 0018 switch nargin 0019 case 1 0020 if isa(varargin{1},'PoseData') 0021 PD=varargin{1}; 0022 else 0023 error('Wrong data type in PoseData copy construtor'); 0024 end 0025 case 4 0026 % Those could be doubles or intervals. Not check implemented: use at 0027 % your own risk (we could also check the sizes....) 0028 PD.m=varargin{1}; 0029 PD.S=varargin{2}; 0030 PD.CS=varargin{3}; 0031 PD.id=varargin{4}; 0032 PD.isInterval=(isa(PD.m,'Interval')||isa(PD.S,'Interval')||isa(PD.CS,'Interval')); 0033 PD=class(PD,'PoseData'); 0034 0035 otherwise 0036 error('Wrong number of parameters in PoseData creation'); 0037 end 0038 |