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GetGeneralDistance2PosePURPOSE
Distance from a pose the the current pose.
SYNOPSIS
function Gd=GetGeneralDistance2Pose(dim,m,MS,H)
DESCRIPTION
Distance from a pose the the current pose. This is the common part of GetDistance2Pose and GetRelativeDistance2Pose. Both functions generate one Gaussian for each dimension of the displacement between poses. In the first one the displacement is expressed in the global frame and in the second the displacement is expressed in the frame of the first pose. See also GetDistance2Pose, GetRelativeDistance2Pose. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function Gd=GetGeneralDistance2Pose(dim,m,MS,H) 0002 % Distance from a pose the the current pose. 0003 % 0004 % This is the common part of GetDistance2Pose and 0005 % GetRelativeDistance2Pose. Both functions generate one Gaussian for each 0006 % dimension of the displacement between poses. In the first one the 0007 % displacement is expressed in the global frame and in the second the 0008 % displacement is expressed in the frame of the first pose. 0009 % 0010 % See also GetDistance2Pose, GetRelativeDistance2Pose. 0011 0012 % R is the noise of the sensor that will make the measurament 0013 Sigma=H*MS*(H'); 0014 0015 % Marginalize for each dimension 0016 Gd=cell(1,dim); 0017 for i=1:dim 0018 s=Sigma(i,i); 0019 Gd{i}=Gaussian(m(i),s); 0020 end 0021 |