Institut de Robòtica i Informàtica Industrial

P_Filter

PURPOSE ^

Construtor for the base Pose SLAM filter.

SYNOPSIS ^

function F=P_Filter(varargin)

DESCRIPTION ^

 Construtor for the base Pose SLAM filter.

 The generic Pose SLAM filter provides the infraestructure common to all 
 types of Pose SLAM filters but it actually does not provide any 
 estimation of the robot's trajectory.
 
 Possible inputs for this constructor are:
   - Another P_Filter: Copy constructor.
   - A Gaussian with the initial estimation for the robot's.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • get Get function for robots.
  • get Get function for trajectories.
  • get Get function for EKF filters.
  • get Generic get function for filters.
  • get Get function for TRO filters.
  • get Get function for BTrees.
  • get Get function for PoseData objects.
  • get Get function for Gaussians.
  • get Get function for poses.
  • get Generic get for relative positioning sensors
  • get Generic get for sensors
This function is called by:
  • P_EKF Constructor for Extended Kalman Filter for PoseSLAM.
  • P_TRO Constructor of TRO Filters for Pose SLAM.

SOURCE CODE ^

0001 function F=P_Filter(varargin)
0002 % Construtor for the base Pose SLAM filter.
0003 %
0004 % The generic Pose SLAM filter provides the infraestructure common to all
0005 % types of Pose SLAM filters but it actually does not provide any
0006 % estimation of the robot's trajectory.
0007 %
0008 % Possible inputs for this constructor are:
0009 %   - Another P_Filter: Copy constructor.
0010 %   - A Gaussian with the initial estimation for the robot's.
0011 
0012   switch nargin
0013     case 1
0014       if isa(varargin{1},'P_Filter')
0015         F=varargin{1};
0016       else
0017         if isa(varargin{1},'Gaussian')
0018           F.initEstimation=varargin{1};
0019           F.nStates=1;
0020           F.nSteps=1;
0021           
0022           F.Step2State=1;
0023           F.State2Step=1;
0024           
0025           F.dim=get(F.initEstimation,'dim');
0026           
0027           % Space to store the loops (used when plotting)
0028           F.nLoops=0;
0029           F.loops={};
0030           
0031           F=class(F,'P_Filter');
0032         else
0033           error('Wrong parameter type in P_Filter creation');
0034         end
0035       end
0036     otherwise
0037       error('Wrong number of parameters in P_Filter creation');
0038   end
0039


Institut de Robòtica i Informàtica Industrial

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