![]() |
GetPoseEstimationPURPOSE
Estimation of a given pose.
SYNOPSIS
function G=GetPoseEstimation(EKF,step)
DESCRIPTION
Estimation of a given pose. Returns a Gaussian with the mean and covariance for the pose of the robot at time slice 'step' using the information stored in the filter. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function G=GetPoseEstimation(EKF,step) 0002 % Estimation of a given pose. 0003 % 0004 % Returns a Gaussian with the mean and covariance for the pose of the 0005 % robot at time slice 'step' using the information stored in the filter. 0006 0007 i=Step2State(EKF.P_Filter,step); 0008 dim=get(EKF.P_Filter,'dim'); 0009 0010 ind=(i-1)*dim+1:i*dim; 0011 G=Gaussian(EKF.mu(ind),EKF.Sigma(ind,ind)); |