Institut de Robòtica i Informàtica Industrial

ShowLinkToNeighbour

PURPOSE ^

Shows the line to a possible neighbour.

SYNOPSIS ^

function ShowLinkToNeighbour(F,Parameters,pt,step,n,c)

DESCRIPTION ^

 Shows the line to a possible neighbour.

 While simulating the current robot pose and those tested for sensor
 registration are linked with a line. This function is used to show this
 line.

 See also HideLinkToNeighbour.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • GetPoseMean Mean estimation of a given pose.
  • GetPoseMean Mean estimation of a given pose.
  • set Set functino for PoseData objects.
This function is called by:
  • Simulation Simulates a robot performing Pose SLAM.

SOURCE CODE ^

0001 function ShowLinkToNeighbour(F,Parameters,pt,step,n,c)
0002 % Shows the line to a possible neighbour.
0003 %
0004 % While simulating the current robot pose and those tested for sensor
0005 % registration are linked with a line. This function is used to show this
0006 % line.
0007 %
0008 % See also HideLinkToNeighbour.
0009 
0010   if Parameters.plot
0011     p1=GetPoseMean(F,step);
0012     p2=GetPoseMean(F,n);
0013         
0014     set(pt.loopTest,'xdata',[p1(1) p2(1)],'ydata',[p1(2) p2(2)],...
0015       'linestyle','-','color',c,'marker','*',...
0016       'markersize',6,'linewidth',1);
0017     uistack(pt.loopTest,'top');
0018     drawnow;
0019   end


Institut de Robòtica i Informàtica Industrial

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