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AllLoopsPURPOSE
Selects all possible pairs of poses as potential loops.
SYNOPSIS
function L=AllLoops(F)
DESCRIPTION
Selects all possible pairs of poses as potential loops. One of the possible loop detection procedures using the information in the filter. This is a naive procedure that propose to close loops with ALL previous poses. Thus, using this procedure we use a prior-less data association. Parameters F: The filter from where to get the information. Outputs: L: A cell array where each element is of the form [step p] where 'step' is the identifier of the pose to be linked with the current robot's pose and 'p' is the information gain of closing this loop (in principle we should close first the loops that are more informative). See also NoLoops, DetectLoops, TreeDetectLoops. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function L=AllLoops(F) 0002 % Selects all possible pairs of poses as potential loops. 0003 % 0004 % One of the possible loop detection procedures using the information in 0005 % the filter. 0006 % This is a naive procedure that propose to close loops with ALL previous 0007 % poses. Thus, using this procedure we use a prior-less data association. 0008 % 0009 % Parameters 0010 % F: The filter from where to get the information. 0011 % Outputs: 0012 % L: A cell array where each element is of the form 0013 % [step p] where 'step' is the identifier of the pose to be linked 0014 % with the current robot's pose and 'p' is the information gain of 0015 % closing this loop (in principle we should close first the loops 0016 % that are more informative). 0017 % 0018 % See also NoLoops, DetectLoops, TreeDetectLoops. 0019 0020 L=cell(1,F.nStates-2); 0021 for i=1:F.nStates-2 0022 L{i}.step=F.State2Step(i); 0023 L{i}.pd=1; 0024 end 0025 |