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RelPosSensorPURPOSE
Relative Position Sensor constructor.
SYNOPSIS
function S=RelPosSensor(varargin)
DESCRIPTION
Relative Position Sensor constructor. A sensors whose data give relative positioning information (such as encoder odometry). CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function S=RelPosSensor(varargin) 0002 % Relative Position Sensor constructor. 0003 % 0004 % A sensors whose data give relative positioning information (such as 0005 % encoder odometry). 0006 0007 switch nargin 0008 0009 case 1 0010 % Copy constructor 0011 if isa(varargin{1},'RelPosSensor') 0012 S=varargin{1}; 0013 else 0014 error('Sensor copy constructor used with an non-sensor object'); 0015 end 0016 0017 case 2 0018 % Base sensor (stores the noise) 0019 if isa(varargin{2},'char') || isa(varargin{2},'double') 0020 if isa(varargin{2},'char') 0021 rawData=load(varargin{2}); 0022 else 0023 rawData=varargin{2}; 0024 end 0025 n=size(rawData,1); 0026 data=cell(1,n); 0027 for i=1:n 0028 data{i}=Pose(rawData(i,:)'); 0029 end 0030 else 0031 if isa(varargin{2},'cell') 0032 data=varargin{2}; 0033 else 0034 error('Wrong parameter type in RelPoseSensor constructor.'); 0035 end 0036 end 0037 0038 SB=Sensor(varargin{1},data); 0039 0040 S=class(struct([]),'RelPosSensor',SB); 0041 0042 otherwise 0043 error('Wrong number of parameters in RelPosSensor creation'); 0044 end |