Institut de Robòtica i Informàtica Industrial

State2Step

PURPOSE ^

Returns the step corresponding to a state.

SYNOPSIS ^

function st=State2Step(F,state)

DESCRIPTION ^

 Returns the step corresponding to a state.

 In general filters store one internal state (i.e., one pose)  for each 
 simulation step. However, some filters (i.e., the TRO filter) can
 remove redundant poses. In this case we have less internal states than
 simulation steps.
 This function provides the conversion from state identifiers to 
 simulation step ones.

 Note that all functions operating on filters use step identifiers as
 inputs and not states!. Steps IDs are externally assigned and states are
 decided according to the filter internal workings and that must be
 hidden to the upper levels. States are only used as IDs in private
 functions.

 If one uses one of the filters functions with one of the removed steps
 an error will be triggered (actually step2state will return -1 and this
 is not valid as an index).

 See also Step2State.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:
  • ComputeNEES Quantifies the consitency of a filter.
  • GetPoseData Defines a PoseData objects from the information stored in the filter.
  • TRO_Update Filter update step.

SOURCE CODE ^

0001 function st=State2Step(F,state)
0002 % Returns the step corresponding to a state.
0003 %
0004 % In general filters store one internal state (i.e., one pose)  for each
0005 % simulation step. However, some filters (i.e., the TRO filter) can
0006 % remove redundant poses. In this case we have less internal states than
0007 % simulation steps.
0008 % This function provides the conversion from state identifiers to
0009 % simulation step ones.
0010 %
0011 % Note that all functions operating on filters use step identifiers as
0012 % inputs and not states!. Steps IDs are externally assigned and states are
0013 % decided according to the filter internal workings and that must be
0014 % hidden to the upper levels. States are only used as IDs in private
0015 % functions.
0016 %
0017 % If one uses one of the filters functions with one of the removed steps
0018 % an error will be triggered (actually step2state will return -1 and this
0019 % is not valid as an index).
0020 %
0021 % See also Step2State.
0022 
0023  st=F.State2Step(state);
0024


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