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setPURPOSE
Set functino for PoseData objects.
SYNOPSIS
function PD=set(PD,field,varargin)
DESCRIPTION
Set functino for PoseData objects. Changes the information stored in a PoseData The possible fields to change are - mean: The mean. - covariance: The covariance. - crossCovarianceData: The data from where to compute the cross covariance between the current robot's pose and the pose (or poses) represented by the PoseData. - id: The identifier of identifiers of the poses represented by the PosesData. - info: Changes the mean, the covariance and the crossCovarianceData in one shot. - updateInfo: Changes the mean, and the crossCovarianceData in one shot and decreases the covariance with a given amount. CROSS-REFERENCE INFORMATION
This function calls:
SOURCE CODE
0001 function PD=set(PD,field,varargin) 0002 % Set functino for PoseData objects. 0003 % 0004 % Changes the information stored in a PoseData 0005 % The possible fields to change are 0006 % - mean: The mean. 0007 % - covariance: The covariance. 0008 % - crossCovarianceData: The data from where to compute the cross covariance 0009 % between the current robot's pose and the pose (or poses) 0010 % represented by the PoseData. 0011 % - id: The identifier of identifiers of the poses represented by the 0012 % PosesData. 0013 % - info: Changes the mean, the covariance and the crossCovarianceData 0014 % in one shot. 0015 % - updateInfo: Changes the mean, and the crossCovarianceData 0016 % in one shot and decreases the covariance with a given amount. 0017 0018 switch field 0019 case 'mean' 0020 PD.m=varargin{1}; 0021 case 'covariance' 0022 PD.S=varargin{1}; 0023 case 'crossCovarianceData' 0024 PD.CS=varargin{1}; 0025 case 'id' 0026 PD.id=varargin{1}; 0027 case 'info' 0028 PD.m=varargin{1}; 0029 PD.S=varargin{2}; 0030 PD.CS=varargin{3}; 0031 case 'updateInfo' 0032 PD.m=varargin{1}; 0033 PD.S=PD.S-varargin{2}; 0034 PD.CS=varargin{3}; 0035 otherwise 0036 error('Unknown field in PoseData set'); 0037 end 0038 PD.isInterval=(isa(PD.m,'interval')||isa(PD.S,'interval')||isa(PD.CS,'interval')); |