Institut de Robòtica i Informàtica Industrial

GaussianValue

PURPOSE ^

Evaluates a Gaussian in an array of points

SYNOPSIS ^

function g=GaussianValue(G,x)

DESCRIPTION ^

 Evaluates a Gaussian in an array of points

 Returns the evaluation of a Gaussian on a given set of points. x (given
 column-wise).

CROSS-REFERENCE INFORMATION ^

This function calls:
  • size Number of poses in a trajectory.
  • size Size of the state estimated in the filter
  • exp Element-wise exponential of an interval matrix.
  • size Size (rows/columns) of an interval matrix.
  • size Number of parameters of the pose.
  • size Number of readings stored in the Sensor.
This function is called by:

SOURCE CODE ^

0001 function g=GaussianValue(G,x)
0002 % Evaluates a Gaussian in an array of points
0003 %
0004 % Returns the evaluation of a Gaussian on a given set of points. x (given
0005 % column-wise).
0006 
0007   l=size(x,2);
0008   Sn=-0.5*G.iS;
0009     g=zeros(1,l);
0010   for i=1:l
0011     m=x(:,i)-G.m;
0012     g(i)=exp(m*Sn*m');
0013   end
0014   g=G.ct*g; %apply the scale factor to all outputs
0015


Institut de Robòtica i Informàtica Industrial

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