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GetPoseDataPURPOSE
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:
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 |