Institut de Robòtica i Informàtica Industrial

ConcatTrajectories

PURPOSE ^

Concats two trajectories.

SYNOPSIS ^

function T=ConcatTrajectories(T1,T2)

DESCRIPTION ^

 Concats two trajectories.

 Returns the trajectory, T, resulting from the concatenation of the two
 input trajectories, T1 and T2.

 Note that the T2 is displaced and rotated so that its first pose is
 coincident with the last pose of T1.

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.
  • Absolute2Relative Relative displacement between two poses.
  • Relative2Absolute Adds a displacement to a pose.
  • size Number of parameters of the pose.
  • size Number of readings stored in the Sensor.
This function is called by:

SOURCE CODE ^

0001 function T=ConcatTrajectories(T1,T2)
0002 % Concats two trajectories.
0003 %
0004 % Returns the trajectory, T, resulting from the concatenation of the two
0005 % input trajectories, T1 and T2.
0006 %
0007 % Note that the T2 is displaced and rotated so that its first pose is
0008 % coincident with the last pose of T1.
0009 
0010   nT1=size(T1);
0011     if nT1>0
0012     nT2=size(T2);
0013         
0014     T.type='mixed';
0015         TR=cell(1,nT2-1);
0016     
0017     ref=T1.data{nT1};
0018     for i=2:nT2
0019       d=Absolute2Relative(T2.data{i-1},T2.data{i});
0020       TR{i-1}=Relative2Absolute(ref,d);
0021       ref=TR{i-1};
0022     end
0023     
0024         T.data=[T1.data TR];
0025         T=class(T,'Trajectory');
0026     else
0027         T=T2;
0028     end
0029


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