Institut de Robòtica i Informàtica Industrial

AllLoops

PURPOSE ^

Selects all possible pairs of poses as potential loops.

SYNOPSIS ^

function L=AllLoops(F)

DESCRIPTION ^

 Selects all possible pairs of poses as potential loops.

 One of the possible loop detection procedures using the information in
 the filter.
 This is a naive procedure that propose to close loops with ALL previous
 poses. Thus, using this procedure we use a prior-less data association.

 Parameters
   F: The filter from where to get the information.
 Outputs:
   L: A cell array where each element is of the form
       [step p] where 'step' is the identifier of the pose to be linked
       with the current robot's pose and 'p' is the information gain of
       closing this loop (in principle we should close first the loops 
       that are more informative).

 See also NoLoops, DetectLoops, TreeDetectLoops.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:
  • Simulation Simulates a robot performing Pose SLAM.

SOURCE CODE ^

0001 function L=AllLoops(F)
0002 % Selects all possible pairs of poses as potential loops.
0003 %
0004 % One of the possible loop detection procedures using the information in
0005 % the filter.
0006 % This is a naive procedure that propose to close loops with ALL previous
0007 % poses. Thus, using this procedure we use a prior-less data association.
0008 %
0009 % Parameters
0010 %   F: The filter from where to get the information.
0011 % Outputs:
0012 %   L: A cell array where each element is of the form
0013 %       [step p] where 'step' is the identifier of the pose to be linked
0014 %       with the current robot's pose and 'p' is the information gain of
0015 %       closing this loop (in principle we should close first the loops
0016 %       that are more informative).
0017 %
0018 % See also NoLoops, DetectLoops, TreeDetectLoops.
0019 
0020   L=cell(1,F.nStates-2);
0021   for i=1:F.nStates-2
0022     L{i}.step=F.State2Step(i);
0023     L{i}.pd=1;
0024   end
0025


Institut de Robòtica i Informàtica Industrial

Generated on Fri 24-Jul-2009 12:32:50 by m2html © 2003