Institut de Robòtica i Informàtica Industrial

GetDistance2Pose

PURPOSE ^

Distance from the current pose to a previous pose (estimated as a Gaussian).

SYNOPSIS ^

function Gd=GetDistance2Pose(F,step)

DESCRIPTION ^

 Distance from the current pose to a previous pose (estimated as a Gaussian).

 Returns a set of Gaussians representing the first order error
 approximation of the displacement from the current robot's pose to the
 pose at time 'step'. 

 The output includes one Gaussian for each dimension of the displacement
 between poses.

 This function is very simiar to GetRelativeDistance2Pose but here the
 pose displacement is computed in the global frame.

 See also GetRelativeDistance2Pose, GetGeneralDistance2Pose.

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:

SOURCE CODE ^

0001 function Gd=GetDistance2Pose(F,step)  
0002 % Distance from the current pose to a previous pose (estimated as a Gaussian).
0003 %
0004 % Returns a set of Gaussians representing the first order error
0005 % approximation of the displacement from the current robot's pose to the
0006 % pose at time 'step'.
0007 %
0008 % The output includes one Gaussian for each dimension of the displacement
0009 % between poses.
0010 %
0011 % This function is very simiar to GetRelativeDistance2Pose but here the
0012 % pose displacement is computed in the global frame.
0013 %
0014 % See also GetRelativeDistance2Pose, GetGeneralDistance2Pose.
0015 
0016 
0017   PoseN=Pose(GetPoseMean(F,F.nSteps);
0018   PoseI=Pose(GetPoseMean(F,step));
0019   
0020   % First order moment of the estimation of the relative squared distance from
0021   % pn to pi in global coordinates
0022   m=double(PoseN-PoseI);
0023   
0024   MarginalSigma=GetMarginalCovariance(F,step);
0025   
0026   H=[eye(F.dim) -eye(F.dim)];
0027   
0028   % This is shared with GetRelativeDistane2Pose and it can get
0029   % intervals as inputs.
0030   Gd=GetGeneralDistance2Pose(F.dim,m,MarginalSigma,H);


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