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UpdatePURPOSE
Adds a new pose to a TRO filter.
SYNOPSIS
function FF=Update(FF,step,SR,Sn,overwritePose)
DESCRIPTION
Adds a new pose to a TRO filter. Updates an 'TRO Filter' adding a new pose to the estimated trajectory. It updates the mean and the covariance matrix. Parameters: FF: The filter. step: Time slice. SR: The sensor readingsb (cell array). Sn: The noise of the sensors (cell array). overwritePose: true if the last robot's pose is to be replaced by the new one. Returns: FF: The updated 'TRO Filter'. The sensor readings are fused and the we use TRO_Prediction. See also TRO_Prediction, TRO_Update CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function FF=Update(FF,step,SR,Sn,overwritePose) 0002 % Adds a new pose to a TRO filter. 0003 % 0004 % Updates an 'TRO Filter' adding a new pose to the estimated 0005 % trajectory. It updates the mean and the covariance matrix. 0006 % 0007 % Parameters: 0008 % FF: The filter. 0009 % step: Time slice. 0010 % SR: The sensor readingsb (cell array). 0011 % Sn: The noise of the sensors (cell array). 0012 % overwritePose: true if the last robot's pose is to be replaced by the 0013 % new one. 0014 % Returns: 0015 % FF: The updated 'TRO Filter'. 0016 % 0017 % The sensor readings are fused and the we use TRO_Prediction. 0018 % 0019 % See also TRO_Prediction, TRO_Update 0020 0021 ns=size(SR,2); 0022 G=SensorFusion(1:ns,SR,Sn); 0023 0024 d=Pose(get(G,'mean')); 0025 Q=get(G,'covariance'); 0026 0027 FF=TRO_Prediction(FF,d,Q,overwritePose); 0028 FF.P_Filter=Update(FF.P_Filter,step,overwritePose); 0029 0030 |