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NullPosePURPOSE
Checks is a pose is null.
SYNOPSIS
function np=NullPose(P)
DESCRIPTION
Checks is a pose is null. Returns true if a pose displacement is to be considered null. Sometimes sensors fail to give the displacement between to consecutive robot poses and then they return a null displacement that should not be used in the filters. Todo % This function should be better called NullDisplacement. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function np=NullPose(P) 0002 % Checks is a pose is null. 0003 % 0004 % Returns true if a pose displacement is to be considered null. 0005 % Sometimes sensors fail to give the displacement between to consecutive 0006 % robot poses and then they return a null displacement that should not be 0007 % used in the filters. 0008 % 0009 % Todo % This function should be better called NullDisplacement. 0010 0011 np=(norm(P.data)<1e-6); 0012 |