![]() |
GetCrossCovarianceWithPosePURPOSE
Cross covariance of a given pose with the current one.
SYNOPSIS
function CC=GetCrossCovarianceWithPose(FF,step)
DESCRIPTION
Cross covariance of a given pose with the current one. Returns the croos covariance of the pose at time slice 'step' with the current robot's pose. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function CC=GetCrossCovarianceWithPose(FF,step) 0002 % Cross covariance of a given pose with the current one. 0003 % 0004 % Returns the croos covariance of the pose at time slice 'step' with the 0005 % current robot's pose. 0006 0007 cs=get(FF,'nSteps'); % current step 0008 0009 if step<cs 0010 CC=get(FF.PoseData{Step2State(FF.P_Filter,step)},'crossCovarianceData')*FF.F; 0011 else 0012 CC=GetPoseCovariance(FF,step); 0013 end |