Institut de Robòtica i Informàtica Industrial

GetCrossCovarianceWithPose

PURPOSE ^

Cross covariance of a given pose with the current one.

SYNOPSIS ^

function CC=GetCrossCovarianceWithPose(F,step)

DESCRIPTION ^

 Cross covariance of a given pose with the current one.

 Each filter implements is own way to get the cross covariance between
 the pose at time 'step' and the current robot's pose.
 If a filter does not provide such a method, this will be used.
 We simple trigger and error indicanting that a method is mising.

CROSS-REFERENCE INFORMATION ^

This function calls:
This function is called by:
  • GetMarginalCovariance Marginal covariance between the current pose and a previous one.
  • GetPoseData Defines a PoseData objects from the information stored in the filter.
  • get Generic get function for filters.

SOURCE CODE ^

0001 function CC=GetCrossCovarianceWithPose(F,step)
0002 % Cross covariance of a given pose with the current one.
0003 %
0004 % Each filter implements is own way to get the cross covariance between
0005 % the pose at time 'step' and the current robot's pose.
0006 % If a filter does not provide such a method, this will be used.
0007 % We simple trigger and error indicanting that a method is mising.
0008 
0009   error('GetCrossCovarianceWithPose is not implemented in this type of filter');


Institut de Robòtica i Informàtica Industrial

Generated on Fri 24-Jul-2009 12:32:50 by m2html © 2003