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ProbDistance2PoseBelowThresholdPURPOSE
Checks if pose 'step' is close enought to the current pose.
SYNOPSIS
function p=ProbDistance2PoseBelowThreshold(F,step,t,distanceFunction)
DESCRIPTION
Checks if pose 'step' is close enought to the current pose. Computes the probablity distribution on the relative displacement between the current robot's pose and the pose at time 'step'. The provided 'distanceFunction' provides a one-dimensional distribution for each one of the components of the displacement. This function integrates this distributions in the interval [-t(i), t(i)] for each dimension 'i' and returns the minimum of all integrals. Possible distanceFunctions are GetRelativeDistance2Pose, GetDistance2Pose. This is equivalent to ProbDistance2PoseDataBelowThreshold but works single poses and not on sets of poses. See also GetRelativeDistance2Pose, GetDistance2Pose, GetRelativeDistance2Pose, ProbDistance2PoseDataBelowThreshold. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function p=ProbDistance2PoseBelowThreshold(F,step,t,distanceFunction) 0002 % Checks if pose 'step' is close enought to the current pose. 0003 % 0004 % Computes the probablity distribution on the relative displacement 0005 % between the current robot's pose and the pose at time 'step'. 0006 % 0007 % The provided 'distanceFunction' provides a one-dimensional distribution 0008 % for each one of the components of the displacement. This function 0009 % integrates this distributions in the interval [-t(i), t(i)] for each 0010 % dimension 'i' and returns the minimum of all integrals. 0011 % Possible distanceFunctions are GetRelativeDistance2Pose, 0012 % GetDistance2Pose. 0013 % 0014 % This is equivalent to ProbDistance2PoseDataBelowThreshold but works 0015 % single poses and not on sets of poses. 0016 % 0017 % See also GetRelativeDistance2Pose, GetDistance2Pose, 0018 % GetRelativeDistance2Pose, ProbDistance2PoseDataBelowThreshold. 0019 0020 Gd=distanceFunction(F,step); 0021 0022 dim=get(F,'dim'); 0023 pIn=zeros(1,dim); 0024 for i=1:dim 0025 pIn(i)=GaussianCPD(Gd{i},t(i))-GaussianCPD(Gd{i},-t(i)); 0026 end 0027 p=min(pIn); 0028 |