Institut de Robòtica i Informàtica Industrial

Sensor

PURPOSE ^

Sensor constructor.

SYNOPSIS ^

function S=Sensor(varargin)

DESCRIPTION ^

 Sensor constructor.

 Basic object common for all sensors.

 The possible parameters are:
     - Another sensor.
     - The sensor noise and a file name from where to read the data.
     - The sensor noise and the cell array of readings.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • size Number of poses in a trajectory.
  • size Size of the state estimated in the filter
  • 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 S=Sensor(varargin)
0002 % Sensor constructor.
0003 %
0004 % Basic object common for all sensors.
0005 %
0006 % The possible parameters are:
0007 %     - Another sensor.
0008 %     - The sensor noise and a file name from where to read the data.
0009 %     - The sensor noise and the cell array of readings.
0010 %
0011 
0012   switch nargin
0013     
0014     case 1
0015       % Copy constructor
0016       if isa(varargin{1},'Sensor')
0017         S=varargin{1};
0018       else
0019         error('Sensor copy constructor used with an non-sensor object');
0020       end
0021       
0022     case 2
0023       S.noise=varargin{1};
0024       
0025       if isa(varargin{2},'char')
0026         data=load(varargin{2});
0027         n=size(data,1);
0028         S.readings=cell(1,n);
0029         for i=1:n
0030           S.readings{i}=data(i,:);
0031         end
0032       else
0033         if isa(varargin{2},'cell');
0034           S.readings=varargin{2};
0035         end
0036       end
0037       
0038       S=class(S,'Sensor');
0039       
0040     otherwise
0041       error('Wrong number of parameters in Sensor creation');
0042   end
0043


Institut de Robòtica i Informàtica Industrial

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