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SensorLoopClosesPURPOSE
Checks if two laser scan can be properly aligned.
SYNOPSIS
function [lc d n]=SensorLoopCloses(S,i,j)
DESCRIPTION
Checks if two laser scan can be properly aligned. Checks if the sensor readings at time 'i'and those at time 'j' can be registered, i.e., if a link can be stablished between poses 'i' and 'j' attending to the corresponding sensor readings. If so, it retusn the displacement between the two poses and the noise associated with this displacement. The default behavior is not to form any link. Specific sensors (e.g., SimOdometryWithLoopClosure) can overide this behavior. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function [lc d n]=SensorLoopCloses(S,i,j) 0002 % Checks if two laser scan can be properly aligned. 0003 % 0004 % Checks if the sensor readings at time 'i'and those at time 'j' 0005 % can be registered, i.e., if a link can be stablished between poses 'i' 0006 % and 'j' attending to the corresponding sensor readings. 0007 % If so, it retusn the displacement between the two poses and the noise 0008 % associated with this displacement. 0009 % 0010 % The default behavior is not to form any link. Specific sensors 0011 % (e.g., SimOdometryWithLoopClosure) can overide this behavior. 0012 0013 lc=false; % default output NO LOOP 0014 d=0; 0015 n=0; |