Institut de Robòtica i Informàtica Industrial

ReadSensor

PURPOSE ^

Returns the sensor reading for time t.

SYNOPSIS ^

function [r n]=ReadSensor(S,t)

DESCRIPTION ^

 Returns the sensor reading for time t.

 Returns the sensor reading according to the given sensor at a given
 time slice.

 Returns the sensor reading at time t (r) with the associated nosie (n).
 In this case the nosie is a constant covariance matrix.

 Todo % Implement sensors with a more complex error model (right
        now only sensors with constant noise are implemented).

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:
  • GetOdometry Get the odometry readings witht the different available sensors.
  • GetSensorReadings Get the current sensor readings from a robot.

SOURCE CODE ^

0001 function [r n]=ReadSensor(S,t)
0002 % Returns the sensor reading for time t.
0003 %
0004 % Returns the sensor reading according to the given sensor at a given
0005 % time slice.
0006 %
0007 % Returns the sensor reading at time t (r) with the associated nosie (n).
0008 % In this case the nosie is a constant covariance matrix.
0009 %
0010 % Todo % Implement sensors with a more complex error model (right
0011 %        now only sensors with constant noise are implemented).
0012 
0013   r=S.readings{t};
0014   n=S.noise;
0015


Institut de Robòtica i Informàtica Industrial

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