get

PURPOSE

SYNOPSIS

DESCRIPTION

 Get function for EKF filters.

 Retrives information from a Extended Kalman Filter
 The possible fields to retrive are:
      - Sigma: The covariance matrix.
      - Lambda: The inverse of Sigma. Expensive to compute!
      - mu: The mean.

 Besides this, all the fields of the generic filter.

 See also Filter/get.

CROSS-REFERENCE INFORMATION

• get Get function for robots.
• get Get function for trajectories.
• size Number of poses in a trajectory.
• get Get function for EKF filters.
• get Generic get function for filters.
• size Size of the state estimated in the filter
• get Get function for TRO filters.
• get Get function for BTrees.
• get Get function for PoseData objects.
• get Get function for Gaussians.
• size Size (rows/columns) of an interval matrix.
• get Get function for poses.
• size Number of parameters of the pose.
• get Generic get for relative positioning sensors
• get Generic get for sensors
• size Number of readings stored in the Sensor.

• Trajectory Trajectory constructor.
• Experiment1a Simulated experiment.
• Experiment1b Simulated experiment.
• Experiment1c Simulated experiment.
• GetCrossCovarianceWithPose Cross covariance of a given pose with the current one.
• GetPoseEstimation Estimation of a given pose.
• P_EKF Constructor for Extended Kalman Filter for PoseSLAM.
• Update Adds a new pose to an EKF filter.
• get Get function for EKF filters.
• EKF_Prediction EKF Prediction step.
• EKF_Update EKF Update step.
• ComputeNEES Quantifies the consitency of a filter.
• GetMarginalCovariance Marginal covariance between the current pose and a previous one.
• GetPoseCovariance Marginal covariance of a given pose.
• GetPoseData Defines a PoseData objects from the information stored in the filter.
• GetPoseMean Mean estimation of a given pose.
• InitFilterPlot Initializes the plot of a filter.
• P_Filter Construtor for the base Pose SLAM filter.
• ProbDistance2PoseBelowThreshold Checks if pose 'step' is close enought to the current pose.
• Simulation Simulates a robot performing Pose SLAM.
• TreeDetectLoops Propose loops based on the distance between poses using a tree for the search.
• UpdateFilterPlot Updates the plot of a filter with a new pose.
• UpdateLoop Adds a loop to the filter.
• get Generic get function for filters.
• GetCrossCovarianceWithPose Cross covariance of a given pose with the current one.
• GetPoseCovariance Covariance estimation of a given pose.
• GetPoseEstimation Estimation of a given pose.
• GetPoseMean Mean estimation of a given pose.
• P_TRO Constructor of TRO Filters for Pose SLAM.
• Update Adds a new pose to a TRO filter.
• UpdateLoop Adds a new loop to a TRO filter.
• get Get function for TRO filters.
• TRO_Prediction Prediction Step.
• TRO_Update Filter update step.
• InsertInTree Inserts an element in a BTree.
• SearchInTree Search nearest-neighbours using a Btree
• UpdateTree Updates the information in a BTree.
• ProbDistance2PoseDataAboveThreshold p=ProbDistance2PoseDataAboveThreshold(PD,F,t,pt)
• PlotGaussian Plots a Gaussian.
• PlotPoseSequence Plots a sequence of poses.
• ContinueSimulation Continues a previous partial simulation.
• char Converts a pose to a string.
• PlotSensor Plots a sensors.
• get Generic get for relative positioning sensors
• SensorLoopCloses Checks if two sensor readigs can be properly registered.

SOURCE CODE

0001 function out=get(EKF,field)
0002 % Get function for EKF filters.
0003 %
0004 % Retrives information from a Extended Kalman Filter
0005 % The possible fields to retrive are:
0006 %      - Sigma: The covariance matrix.
0007 %      - Lambda: The inverse of Sigma. Expensive to compute!
0008 %      - mu: The mean.
0009 %
0010 % Besides this, all the fields of the generic filter.
0011 %
0012 % See also Filter/get.
0013 
0014   switch field
0015     case  'Sigma'
0016       out=EKF.Sigma;
0017     case  'Lambda'
0018       ne=size(EKF);
0019       out=EKF.Sigma\eye(ne);
0020     case 'mu'
0021       out=EKF.mu;
0022     otherwise
0023       out=get(EKF.P_Filter,field);
0024   end
0025