Institut de Robòtica i Informàtica Industrial

GetGeneralDistance2Pose

PURPOSE ^

Distance from a pose the the current pose.

SYNOPSIS ^

function Gd=GetGeneralDistance2Pose(dim,m,MS,H)

DESCRIPTION ^

 Distance from a pose the the current pose.

   This is the common part of GetDistance2Pose and
   GetRelativeDistance2Pose. Both functions generate one Gaussian for each
   dimension of the displacement between poses. In the first one the
   displacement is expressed in the global frame and in the second the
   displacement is expressed in the frame of the first pose.
   
   See also GetDistance2Pose, GetRelativeDistance2Pose.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function Gd=GetGeneralDistance2Pose(dim,m,MS,H)
0002 % Distance from a pose the the current pose.
0003 %
0004 %   This is the common part of GetDistance2Pose and
0005 %   GetRelativeDistance2Pose. Both functions generate one Gaussian for each
0006 %   dimension of the displacement between poses. In the first one the
0007 %   displacement is expressed in the global frame and in the second the
0008 %   displacement is expressed in the frame of the first pose.
0009 %
0010 %   See also GetDistance2Pose, GetRelativeDistance2Pose.
0011   
0012   % R is the noise of the sensor that will make the measurament
0013     Sigma=H*MS*(H');
0014   
0015   % Marginalize for each dimension
0016   Gd=cell(1,dim);
0017   for i=1:dim
0018     s=Sigma(i,i);
0019     Gd{i}=Gaussian(m(i),s); 
0020   end
0021


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