Institut de Robòtica i Informàtica Industrial

GetCrossCovarianceWithPose

PURPOSE ^

Cross covariance of a given pose with the current one.

SYNOPSIS ^

function CC=GetCrossCovarianceWithPose(EKF,step)

DESCRIPTION ^

 Cross covariance of a given pose with the current one.

 Returns the croos covariance of the pose at time slice 'step' with the
 current robot's pose.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • get Get function for robots.
  • get Get function for trajectories.
  • get Get function for EKF filters.
  • Step2State Returns the state correspoinding to a step.
  • get Generic get function for filters.
  • get Get function for TRO filters.
  • get Get function for BTrees.
  • get Get function for PoseData objects.
  • get Get function for Gaussians.
  • get Get function for poses.
  • get Generic get for relative positioning sensors
  • get Generic get for sensors
This function is called by:
  • GetMarginalCovariance Marginal covariance between the current pose and a previous one.
  • GetPoseData Defines a PoseData objects from the information stored in the filter.
  • get Generic get function for filters.

SOURCE CODE ^

0001 function CC=GetCrossCovarianceWithPose(EKF,step)
0002 % Cross covariance of a given pose with the current one.
0003 %
0004 % Returns the croos covariance of the pose at time slice 'step' with the
0005 % current robot's pose.
0006 
0007   if isa(step,'double')
0008     nStates=get(EKF.P_Filter,'nStates');
0009     dim=get(EKF.P_Filter,'dim');
0010     
0011     i=Step2State(EKF.P_Filter,step);
0012   
0013     ind=(i-1)*dim+1:i*dim;
0014     last=(nStates-1)*dim+1:nStates*dim;
0015     
0016     CC=EKF.Sigma(ind,last);
0017   else
0018     if isa(step,'PoseData')
0019       CC=get(step,'crossCovarianceData');
0020     else
0021       error('Unknown 2nd parameter type in GetCrossCovarianceWithPose (EKF)');
0022     end
0023   end
0024


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