Institut de Robòtica i Informàtica Industrial

GetPoseEstimation

PURPOSE ^

Estimation of a given pose.

SYNOPSIS ^

function G=GetPoseEstimation(EKF,step)

DESCRIPTION ^

 Estimation of a given pose.
 
 Returns a Gaussian with the mean and covariance for the pose of the
 robot at time slice 'step' using the information stored in the filter.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • get Get function for robots.
  • get Get function for trajectories.
  • get Get function for EKF filters.
  • Step2State Returns the state correspoinding to a step.
  • get Generic get function for filters.
  • get Get function for TRO filters.
  • get Get function for BTrees.
  • get Get function for PoseData objects.
  • Gaussian Defines a Gaussian.
  • get Get function for Gaussians.
  • get Get function for poses.
  • get Generic get for relative positioning sensors
  • get Generic get for sensors
This function is called by:

SOURCE CODE ^

0001 function G=GetPoseEstimation(EKF,step)
0002 % Estimation of a given pose.
0003 %
0004 % Returns a Gaussian with the mean and covariance for the pose of the
0005 % robot at time slice 'step' using the information stored in the filter.
0006 
0007   i=Step2State(EKF.P_Filter,step);
0008   dim=get(EKF.P_Filter,'dim');
0009   
0010   ind=(i-1)*dim+1:i*dim;
0011   G=Gaussian(EKF.mu(ind),EKF.Sigma(ind,ind));


Institut de Robòtica i Informàtica Industrial

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