Institut de Robòtica i Informàtica Industrial

GetPoseData

PURPOSE ^

Defines a PoseData objects from the information stored in the filter.

SYNOPSIS ^

function pd=GetPoseData(FF,varargin)

DESCRIPTION ^

 Defines a PoseData objects from the information stored in the filter.

 If only the filter F is given, then the output is a cell array with the
 PoseData objects with one entry for each one of the poses estimated by
 the filter.

 If we give a particular time, then the output is the PoseData object
 for the particular pose obtained at the given time.

 The PoseData objects include the time for the pose, the mean, the 
 marginal covariance, and data related with the cross-covariance of the
 pose with respect to the current robot's pose.

 This overides the generic Filter implementation providing a faster
 access to the PoseData.

 See also PoseData.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • Step2State Returns the state correspoinding to a step.
This function is called by:
  • Simulation Simulates a robot performing Pose SLAM.

SOURCE CODE ^

0001 function pd=GetPoseData(FF,varargin)
0002 % Defines a PoseData objects from the information stored in the filter.
0003 %
0004 % If only the filter F is given, then the output is a cell array with the
0005 % PoseData objects with one entry for each one of the poses estimated by
0006 % the filter.
0007 %
0008 % If we give a particular time, then the output is the PoseData object
0009 % for the particular pose obtained at the given time.
0010 %
0011 % The PoseData objects include the time for the pose, the mean, the
0012 % marginal covariance, and data related with the cross-covariance of the
0013 % pose with respect to the current robot's pose.
0014 %
0015 % This overides the generic Filter implementation providing a faster
0016 % access to the PoseData.
0017 %
0018 % See also PoseData.
0019 
0020   if nargin>1
0021     % Query for a particular posedata
0022     ns=Step2State(FF.P_Filter,varargin{1});
0023     if ns<1
0024       pd=0;
0025     else
0026       pd=FF.PoseData{ns};
0027     end
0028   else
0029     pd=FF.PoseData;
0030   end


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