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P_FilterPURPOSE
Construtor for the base Pose SLAM filter.
SYNOPSIS
function F=P_Filter(varargin)
DESCRIPTION
Construtor for the base Pose SLAM filter. The generic Pose SLAM filter provides the infraestructure common to all types of Pose SLAM filters but it actually does not provide any estimation of the robot's trajectory. Possible inputs for this constructor are: - Another P_Filter: Copy constructor. - A Gaussian with the initial estimation for the robot's. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function F=P_Filter(varargin) 0002 % Construtor for the base Pose SLAM filter. 0003 % 0004 % The generic Pose SLAM filter provides the infraestructure common to all 0005 % types of Pose SLAM filters but it actually does not provide any 0006 % estimation of the robot's trajectory. 0007 % 0008 % Possible inputs for this constructor are: 0009 % - Another P_Filter: Copy constructor. 0010 % - A Gaussian with the initial estimation for the robot's. 0011 0012 switch nargin 0013 case 1 0014 if isa(varargin{1},'P_Filter') 0015 F=varargin{1}; 0016 else 0017 if isa(varargin{1},'Gaussian') 0018 F.initEstimation=varargin{1}; 0019 F.nStates=1; 0020 F.nSteps=1; 0021 0022 F.Step2State=1; 0023 F.State2Step=1; 0024 0025 F.dim=get(F.initEstimation,'dim'); 0026 0027 % Space to store the loops (used when plotting) 0028 F.nLoops=0; 0029 F.loops={}; 0030 0031 F=class(F,'P_Filter'); 0032 else 0033 error('Wrong parameter type in P_Filter creation'); 0034 end 0035 end 0036 otherwise 0037 error('Wrong number of parameters in P_Filter creation'); 0038 end 0039 |