Institut de Robòtica i Informàtica Industrial

SensorLoopCloses

PURPOSE ^

Checks if two laser scan can be properly aligned.

SYNOPSIS ^

function [lc d n]=SensorLoopCloses(S,i,j)

DESCRIPTION ^

 Checks if two laser scan can be properly aligned.

   Checks if the sensor readings at time 'i'and those at time 'j' 
   can be registered, i.e., if a link can be stablished between poses 'i'
   and 'j' attending to the corresponding sensor readings.
   If so, it retusn the displacement between the two poses and the noise
   associated with this displacement.

   The default behavior is not to form any link. Specific sensors
   (e.g., SimOdometryWithLoopClosure) can overide this behavior.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:
  • Simulation Simulates a robot performing Pose SLAM.

SOURCE CODE ^

0001 function [lc d n]=SensorLoopCloses(S,i,j) 
0002 % Checks if two laser scan can be properly aligned.
0003 %
0004 %   Checks if the sensor readings at time 'i'and those at time 'j'
0005 %   can be registered, i.e., if a link can be stablished between poses 'i'
0006 %   and 'j' attending to the corresponding sensor readings.
0007 %   If so, it retusn the displacement between the two poses and the noise
0008 %   associated with this displacement.
0009 %
0010 %   The default behavior is not to form any link. Specific sensors
0011 %   (e.g., SimOdometryWithLoopClosure) can overide this behavior.
0012 
0013   lc=false;      % default output NO LOOP
0014   d=0;
0015   n=0;


Institut de Robòtica i Informàtica Industrial

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