Institut de Robòtica i Informàtica Industrial

times

PURPOSE ^

Element-size product of two matrices (operator: .*).

SYNOPSIS ^

function Iout=times(I1,I2)

DESCRIPTION ^

 Element-size product of two matrices (operator: .*).

 Element-by-element multiplication of two interval matrices, I1, I2.
 It accepts mixed real/interval matrices as inputs.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • size Number of poses in a trajectory.
  • size Size of the state estimated in the filter
  • size Size (rows/columns) of an interval matrix.
  • size Number of parameters of the pose.
  • size Number of readings stored in the Sensor.
This function is called by:

SOURCE CODE ^

0001 function Iout=times(I1,I2)
0002 % Element-size product of two matrices (operator: .*).
0003 %
0004 % Element-by-element multiplication of two interval matrices, I1, I2.
0005 % It accepts mixed real/interval matrices as inputs.
0006 
0007   if isa(I1,'double')
0008     m1=I1.*I2.lower;
0009     m2=I1.*I2.upper;
0010     Iout.lower=min(m1,m2);
0011     Iout.upper=max(m1,m2);
0012     [Iout.r Iout.c]=size(Iout.lower);
0013     Iout=class(Iout,'Interval');
0014   else
0015     if isa(I2,'double')
0016       m1=I1.lower.*I2;
0017       m2=I1.upper.*I2;
0018       Iout.lower=min(m1,m2);
0019       Iout.upper=max(m1,m2);
0020       [Iout.r Iout.c]=size(Iout.lower);
0021       Iout=class(Iout,'Interval');
0022     else
0023       m1=I1.lower.*I2.lower;
0024       m2=I1.lower.*I2.upper;
0025       m3=I1.upper.*I2.lower;
0026       m4=I1.upper.*I2.upper;
0027       Iout.lower=min(m1,min(m2,min(m3,m4)));
0028       Iout.upper=max(m1,max(m2,max(m3,m4)));
0029       [Iout.r Iout.c]=size(Iout.lower);
0030       Iout=class(Iout,'Interval');
0031     end
0032   end


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