Institut de Robòtica i Informàtica Industrial

Update

PURPOSE ^

Adds a new pose to a TRO filter.

SYNOPSIS ^

function FF=Update(FF,step,SR,Sn,overwritePose)

DESCRIPTION ^

 Adds a new pose to a TRO filter.

 Updates an 'TRO Filter' adding a new pose to the estimated
 trajectory. It updates the mean and the covariance matrix.

 Parameters:
   FF: The filter.
   step: Time slice.
   SR: The sensor readingsb (cell array).
   Sn: The noise of the sensors (cell array).
   overwritePose: true if the last robot's pose is to be replaced by the
                  new one.
 Returns:
   FF: The updated 'TRO Filter'.

 The sensor readings are fused and the we use TRO_Prediction.

 See also TRO_Prediction, TRO_Update

CROSS-REFERENCE INFORMATION ^

This function calls:
  • get Get function for robots.
  • get Get function for trajectories.
  • size Number of poses in a trajectory.
  • Update Adds a new pose to an EKF filter.
  • get Get function for EKF filters.
  • Update Adds a pose to the filter.
  • get Generic get function for filters.
  • size Size of the state estimated in the filter
  • Update Adds a new pose to a TRO filter.
  • get Get function for TRO filters.
  • TRO_Prediction Prediction Step.
  • get Get function for BTrees.
  • get Get function for PoseData objects.
  • get Get function for Gaussians.
  • SensorFusion Fusion of noisy sensor readings.
  • size Size (rows/columns) of an interval matrix.
  • get Get function for poses.
  • size Number of parameters of the pose.
  • Pose Generic pose constructor.
  • get Generic get for relative positioning sensors
  • get Generic get for sensors
  • size Number of readings stored in the Sensor.
This function is called by:
  • Update Adds a new pose to an EKF filter.
  • Simulation Simulates a robot performing Pose SLAM.
  • Update Adds a new pose to a TRO filter.

SOURCE CODE ^

0001 function FF=Update(FF,step,SR,Sn,overwritePose)
0002 % Adds a new pose to a TRO filter.
0003 %
0004 % Updates an 'TRO Filter' adding a new pose to the estimated
0005 % trajectory. It updates the mean and the covariance matrix.
0006 %
0007 % Parameters:
0008 %   FF: The filter.
0009 %   step: Time slice.
0010 %   SR: The sensor readingsb (cell array).
0011 %   Sn: The noise of the sensors (cell array).
0012 %   overwritePose: true if the last robot's pose is to be replaced by the
0013 %                  new one.
0014 % Returns:
0015 %   FF: The updated 'TRO Filter'.
0016 %
0017 % The sensor readings are fused and the we use TRO_Prediction.
0018 %
0019 % See also TRO_Prediction, TRO_Update
0020 
0021   ns=size(SR,2);
0022   G=SensorFusion(1:ns,SR,Sn);
0023   
0024   d=Pose(get(G,'mean'));
0025   Q=get(G,'covariance');
0026   
0027   FF=TRO_Prediction(FF,d,Q,overwritePose);
0028   FF.P_Filter=Update(FF.P_Filter,step,overwritePose);
0029   
0030


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