Institut de Robòtica i Informàtica Industrial

NullPose

PURPOSE ^

Checks is a pose is null.

SYNOPSIS ^

function np=NullPose(P)

DESCRIPTION ^

 Checks is a pose is null.

 Returns true if a pose displacement is to be considered null.
 Sometimes sensors fail to give the displacement between to consecutive
 robot poses and then they return a null displacement  that should not be
 used in the filters.

 Todo % This function should be better called NullDisplacement.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:

SOURCE CODE ^

0001 function np=NullPose(P)
0002 % Checks is a pose is null.
0003 %
0004 % Returns true if a pose displacement is to be considered null.
0005 % Sometimes sensors fail to give the displacement between to consecutive
0006 % robot poses and then they return a null displacement  that should not be
0007 % used in the filters.
0008 %
0009 % Todo % This function should be better called NullDisplacement.
0010 
0011   np=(norm(P.data)<1e-6);
0012


Institut de Robòtica i Informàtica Industrial

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