Institut de Robòtica i Informàtica Industrial

UpdateLoop

PURPOSE ^

Adds a loop to the filter.

SYNOPSIS ^

function F=UpdateLoop(F,linked,dS,RS)

DESCRIPTION ^

 Adds a loop to the filter.

 Updates the the filter when a loop is closed (i.e., when we add a link
 between the current robot's pose and one of the previous poses).

CROSS-REFERENCE INFORMATION ^

This function calls:
  • get Get function for robots.
  • get Get function for trajectories.
  • size Number of poses in a trajectory.
  • get Get function for EKF filters.
  • get Generic get function for filters.
  • size Size of the state estimated in the filter
  • get Get function for TRO filters.
  • get Get function for BTrees.
  • get Get function for PoseData objects.
  • get Get function for Gaussians.
  • SensorFusion Fusion of noisy sensor readings.
  • size Size (rows/columns) of an interval matrix.
  • get Get function for poses.
  • size Number of parameters of the pose.
  • Pose Generic pose constructor.
  • get Generic get for relative positioning sensors
  • get Generic get for sensors
  • size Number of readings stored in the Sensor.
This function is called by:

SOURCE CODE ^

0001 function F=UpdateLoop(F,linked,dS,RS)
0002 % Adds a loop to the filter.
0003 %
0004 % Updates the the filter when a loop is closed (i.e., when we add a link
0005 % between the current robot's pose and one of the previous poses).
0006 
0007   loop.p1=F.nSteps;
0008   loop.p2=linked;
0009   
0010   % More than one sensor can confirm the loop. Just store the fusion
0011   % of them
0012   ns=size(RS,2);
0013   G=SensorFusion(1:ns,dS,RS);
0014   loop.displacement=Pose(get(G,'mean'));
0015   loop.noise=get(G,'covariance');
0016   
0017   F.nLoops=F.nLoops+1;
0018   F.loops{F.nLoops}=loop;
0019


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