Institut de Robòtica i Informàtica Industrial

PoseData

PURPOSE ^

PoseData constructor.

SYNOPSIS ^

function PD=PoseData(varargin)

DESCRIPTION ^

 PoseData constructor.

 The valid paramters are:
     - Another PoseData
     - The mean, marginal covariance, information related to the
       cross-covariance w.r.t the last robot's pose (named \Phi_i in 
       the paper), and the identifier of the pose .

 The PoseData is defined for a single pose and then function Union is
 used to accumulate the information of several poses. This is used when
 defining a tree of poses, to define the information to be stored in the
 internal nodes of the tree (they have to summarize the information in
 the leaves below the tree node).

 See also Union.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:
  • GetPoseData Defines a PoseData objects from the information stored in the filter.
  • P_TRO Constructor of TRO Filters for Pose SLAM.
  • TRO_Prediction Prediction Step.

SOURCE CODE ^

0001 function PD=PoseData(varargin)
0002 % PoseData constructor.
0003 %
0004 % The valid paramters are:
0005 %     - Another PoseData
0006 %     - The mean, marginal covariance, information related to the
0007 %       cross-covariance w.r.t the last robot's pose (named \Phi_i in
0008 %       the paper), and the identifier of the pose .
0009 %
0010 % The PoseData is defined for a single pose and then function Union is
0011 % used to accumulate the information of several poses. This is used when
0012 % defining a tree of poses, to define the information to be stored in the
0013 % internal nodes of the tree (they have to summarize the information in
0014 % the leaves below the tree node).
0015 %
0016 % See also Union.
0017 
0018   switch nargin
0019     case 1
0020       if isa(varargin{1},'PoseData')
0021         PD=varargin{1};
0022       else
0023         error('Wrong data type in PoseData copy construtor');
0024       end
0025         case 4
0026       % Those could be doubles or intervals. Not check implemented: use at
0027       % your own risk (we could also check the sizes....)
0028       PD.m=varargin{1};
0029       PD.S=varargin{2};
0030       PD.CS=varargin{3};
0031       PD.id=varargin{4};
0032             PD.isInterval=(isa(PD.m,'Interval')||isa(PD.S,'Interval')||isa(PD.CS,'Interval'));
0033       PD=class(PD,'PoseData');
0034       
0035     otherwise
0036       error('Wrong number of parameters in PoseData creation');
0037   end
0038


Institut de Robòtica i Informàtica Industrial

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