get
PURPOSE 
Get function for TRO filters.
SYNOPSIS
function out=get(FF,field)
DESCRIPTION
Get function for TRO filters.
Retrives information from a TRO Filter.
The possible fields to query are
- Lambda: The information matrix.
- eta: The information vector.
- mu: The mean (used as a linearilation point).
- sigma: The inverse of Lambda. This is computed on-line and it is
slow to obtain.
- F: the accumulation of linearizations of the displacement
function (see Relative2AbsoluteJacobian) from the last loop
closure. This is used to compute cross covariances of poses
w.r.t. the new robot's pose.
- cm2ne: Size of the linear systems solved (via cholmod2) to recover
the state if a loop is closed. One value per each loop closure
operation executed.
- cm2t: Time to solve the linear systems solved (via cholmod2) to
recover the state if a loop is closed. One value per each loop
closure operation executed.
- cm2mb: Memory used to solve the linear systems solved (via cholmod2)
to recover the state if a loop is closed. One value per each loop
closure operation executed.
Besides this, all the fields in a generic Filter.
See also Filter/get.CROSS-REFERENCE INFORMATION
This function calls:
- 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(FF,field) 0002 % Get function for TRO filters. 0003 % 0004 % Retrives information from a TRO Filter. 0005 % The possible fields to query are 0006 % - Lambda: The information matrix. 0007 % - eta: The information vector. 0008 % - mu: The mean (used as a linearilation point). 0009 % - sigma: The inverse of Lambda. This is computed on-line and it is 0010 % slow to obtain. 0011 % - F: the accumulation of linearizations of the displacement 0012 % function (see Relative2AbsoluteJacobian) from the last loop 0013 % closure. This is used to compute cross covariances of poses 0014 % w.r.t. the new robot's pose. 0015 % - cm2ne: Size of the linear systems solved (via cholmod2) to recover 0016 % the state if a loop is closed. One value per each loop closure 0017 % operation executed. 0018 % - cm2t: Time to solve the linear systems solved (via cholmod2) to 0019 % recover the state if a loop is closed. One value per each loop 0020 % closure operation executed. 0021 % - cm2mb: Memory used to solve the linear systems solved (via cholmod2) 0022 % to recover the state if a loop is closed. One value per each loop 0023 % closure operation executed. 0024 % 0025 % Besides this, all the fields in a generic Filter. 0026 % 0027 % See also Filter/get. 0028 0029 switch field 0030 case 'Lambda' 0031 out=FF.Lambda; 0032 case 'eta' 0033 out=FF.eta; 0034 case 'mu' 0035 out=FF.mu; 0036 case 'Sigma' 0037 ne=size(FF); 0038 out=cholmod2(FF.Lambda,sparse2(1:ne,1:ne,1)); 0039 case 'F' 0040 out=FF.F; 0041 case 'cm2ne' 0042 out=FF.cm2ne; 0043 case 'cm2t' 0044 out=FF.cm2t; 0045 case 'cm2mb' 0046 out=FF.cm2mb; 0047 otherwise 0048 out=get(FF.P_Filter,field); 0049 end 0050