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Step2StatePURPOSE
Returns the state correspoinding to a step.
SYNOPSIS
function st=Step2State(F,step)
DESCRIPTION
Returns the state correspoinding to a step. In general filters store (i.e., one interal state) one pose for each simulation step. However, some filters (i.e., the TRO filter) can remove redundant poses. In this case we have less internal states than simulation steps. This function provides the conversion from step identifiers to states. Note that all functions operating on filters use step identifiers as inputs and not states!. Steps are externally assigned and states are decided according to the filter internal workings and that must be hidden to the upper levels. States are only used as IDs in private functions. If one uses one of the filters functions with one of the removed steps an error will be triggered (actually step2state will return -1 and this is not valid as an index). See also State2Step. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function st=Step2State(F,step) 0002 % Returns the state correspoinding to a step. 0003 % 0004 % In general filters store (i.e., one interal state) one pose for each 0005 % simulation step. However, some filters (i.e., the TRO filter) can 0006 % remove redundant poses. In this case we have less internal states than 0007 % simulation steps. 0008 % This function provides the conversion from step identifiers to 0009 % states. 0010 % 0011 % Note that all functions operating on filters use step identifiers as 0012 % inputs and not states!. Steps are externally assigned and states are 0013 % decided according to the filter internal workings and that must be 0014 % hidden to the upper levels. States are only used as IDs in private 0015 % functions. 0016 % 0017 % If one uses one of the filters functions with one of the removed steps 0018 % an error will be triggered (actually step2state will return -1 and this 0019 % is not valid as an index). 0020 % 0021 % See also State2Step. 0022 0023 st=F.Step2State(step); 0024 0025 |