Institut de Robòtica i Informàtica Industrial

ProbDistance2PoseBelowThreshold

PURPOSE ^

Checks if pose 'step' is close enought to the current pose.

SYNOPSIS ^

function p=ProbDistance2PoseBelowThreshold(F,step,t,distanceFunction)

DESCRIPTION ^

 Checks if pose 'step' is close enought to the current pose. 

 Computes the probablity distribution on the relative displacement
 between the current robot's pose and the pose at time 'step'.
 
 The provided 'distanceFunction' provides a one-dimensional distribution 
 for each one of the components of the displacement. This function
 integrates this distributions in the interval [-t(i), t(i)] for each
 dimension 'i' and returns the minimum of all integrals.
 Possible distanceFunctions are GetRelativeDistance2Pose,
 GetDistance2Pose.
  
 This is equivalent to ProbDistance2PoseDataBelowThreshold but works
 single poses and not on sets of poses.
  
 See also GetRelativeDistance2Pose, GetDistance2Pose,
 GetRelativeDistance2Pose, ProbDistance2PoseDataBelowThreshold.

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.
  • GaussianCPD Computes the Gaussian cummulative probability distribution.
  • 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:

SOURCE CODE ^

0001 function p=ProbDistance2PoseBelowThreshold(F,step,t,distanceFunction)
0002 % Checks if pose 'step' is close enought to the current pose.
0003 %
0004 % Computes the probablity distribution on the relative displacement
0005 % between the current robot's pose and the pose at time 'step'.
0006 %
0007 % The provided 'distanceFunction' provides a one-dimensional distribution
0008 % for each one of the components of the displacement. This function
0009 % integrates this distributions in the interval [-t(i), t(i)] for each
0010 % dimension 'i' and returns the minimum of all integrals.
0011 % Possible distanceFunctions are GetRelativeDistance2Pose,
0012 % GetDistance2Pose.
0013 %
0014 % This is equivalent to ProbDistance2PoseDataBelowThreshold but works
0015 % single poses and not on sets of poses.
0016 %
0017 % See also GetRelativeDistance2Pose, GetDistance2Pose,
0018 % GetRelativeDistance2Pose, ProbDistance2PoseDataBelowThreshold.
0019 
0020   Gd=distanceFunction(F,step);
0021   
0022   dim=get(F,'dim');
0023   pIn=zeros(1,dim);
0024   for i=1:dim
0025     pIn(i)=GaussianCPD(Gd{i},t(i))-GaussianCPD(Gd{i},-t(i));
0026   end
0027   p=min(pIn);
0028


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