Institut de Robòtica i Informàtica Industrial

Update

PURPOSE ^

Adds a pose to the filter.

SYNOPSIS ^

function F=Update(F,step,overwritePose)

DESCRIPTION ^

 Adds a pose to the filter.

 Updates the generic filter information when a new pose is added to the
 trajectory.
 The parameters are not used but we keep them for compatibility with the
 particular Update methods for specific filters.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:
  • Update Adds a new pose to an EKF filter.
  • Simulation Simulates a robot performing Pose SLAM.
  • Update Adds a new pose to a TRO filter.

SOURCE CODE ^

0001 function F=Update(F,step,overwritePose)
0002 % Adds a pose to the filter.
0003 %
0004 % Updates the generic filter information when a new pose is added to the
0005 % trajectory.
0006 % The parameters are not used but we keep them for compatibility with the
0007 % particular Update methods for specific filters.
0008 %
0009   if overwritePose
0010         F.Step2State(F.State2Step(F.nStates))=-1;
0011     else
0012         F.nStates=F.nStates+1;
0013   end
0014   
0015   F.nSteps=F.nSteps+1; % == step
0016   F.State2Step(F.nStates)=step;
0017   F.Step2State(step)=F.nStates;
0018


Institut de Robòtica i Informàtica Industrial

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