Institut de Robòtica i Informàtica Industrial

GetRelativeDistance2Pose

PURPOSE ^

Relative displacement between the current pose and a previous one.

SYNOPSIS ^

function Grd=GetRelativeDistance2Pose(F,step)

DESCRIPTION ^

 Relative displacement between the current pose and a previous one.

 Returns a set of Gaussians representing the first order error
 approximation of the displacement from the current robot's pose to the
 pose at time 'step'. 

 The output includes one Gaussian for each dimension of the displacement
 between poses.

 This function is very simiar to GetDistance2Pose but here the
 pose displacement is computed in the current frame of the robot.

 See also GetDistance2Pose, GetGeneralDistance2Pose.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function Grd=GetRelativeDistance2Pose(F,step) 
0002 % Relative displacement between the current pose and a previous one.
0003 %
0004 % Returns a set of Gaussians representing the first order error
0005 % approximation of the displacement from the current robot's pose to the
0006 % pose at time 'step'.
0007 %
0008 % The output includes one Gaussian for each dimension of the displacement
0009 % between poses.
0010 %
0011 % This function is very simiar to GetDistance2Pose but here the
0012 % pose displacement is computed in the current frame of the robot.
0013 %
0014 % See also GetDistance2Pose, GetGeneralDistance2Pose.
0015 
0016   PoseN=Pose(GetPoseMean(F,F.nSteps));
0017   PoseI=Pose(GetPoseMean(F,step));
0018   
0019   % First order moment of the estimation of the relative distance from
0020   % pn to pi in the frame of Pn
0021   m=double(Absolute2Relative(PoseN,PoseI));
0022   
0023   MarginalSigma=GetMarginalCovariance(F,step);
0024   
0025   [Hn Hi]=Absolute2RelativeJacobian(PoseN,PoseI);
0026   
0027   % This is shared with GetDistane2Pose and it can get
0028   % intervals as inputs.
0029   Grd=GetGeneralDistance2Pose(F.dim,m,MarginalSigma,[Hn Hi]);


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