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GetMarginalCovariancePURPOSE
Marginal covariance between the current pose and a previous one.
SYNOPSIS
function S=GetMarginalCovariance(F,step)
DESCRIPTION
Marginal covariance between the current pose and a previous one. Returns the joint marginal covariance between the current robot's pose and the pose at time 'step'. The output matrix is organized such that the top left sub-matrix corresponds to the marginal covariance of the current robot's pose and the bottom right one to marginal covariance of the at time 'step'. Note that each filter has a different way of computing the marginal covariances and the cross-covariances between poses. This is hidden in this function since it uses the GetPoseEstimation and GetCrossCovarianceWithPose methods that can have particular implementations for each filter. See also GetPoseEstimation, GetCrossCovarianceWithPose. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function S=GetMarginalCovariance(F,step) 0002 % Marginal covariance between the current pose and a previous one. 0003 % 0004 % Returns the joint marginal covariance between the current robot's pose 0005 % and the pose at time 'step'. 0006 % 0007 % The output matrix is organized such that the top left sub-matrix 0008 % corresponds to the marginal covariance of the current robot's pose 0009 % and the bottom right one to marginal covariance of the at time 'step'. 0010 % 0011 % Note that each filter has a different way of computing the marginal 0012 % covariances and the cross-covariances between poses. This is hidden in 0013 % this function since it uses the GetPoseEstimation and 0014 % GetCrossCovarianceWithPose methods that can have particular 0015 % implementations for each filter. 0016 % 0017 % See also GetPoseEstimation, GetCrossCovarianceWithPose. 0018 0019 Pi=GetPoseEstimation(F,step); 0020 Pn=GetPoseEstimation(F,F.nSteps); 0021 0022 n=1:F.dim; 0023 i=F.dim+1:2*F.dim; 0024 0025 S=zeros(2*F.dim,2*F.dim); 0026 0027 S(i,i)=get(Pi,'covariance'); 0028 S(n,n)=get(Pn,'covariance'); 0029 S(i,n)=GetCrossCovarianceWithPose(F,step); 0030 S(n,i)=S(i,n)'; 0031 |