get

PURPOSE

SYNOPSIS

DESCRIPTION

 Get function for BTrees.

   Retrives information from a tree. Possible fields to query are:
     - root: Root node index.
     - height: Height of the tree.
     - data: All nodes (including leaves).
     - numNodes: Number of nodes (including leaves) in the tree.

 See also BTree.

CROSS-REFERENCE INFORMATION

• 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(T,field)
0002 % Get function for BTrees.
0003 %
0004 %   Retrives information from a tree. Possible fields to query are:
0005 %     - root: Root node index.
0006 %     - height: Height of the tree.
0007 %     - data: All nodes (including leaves).
0008 %     - numNodes: Number of nodes (including leaves) in the tree.
0009 %
0010 % See also BTree.
0011 
0012   r=T.root;
0013   switch field
0014     case 'root'
0015       out=T.root;
0016     case 'height'
0017       out=T.data{r}.heigth;
0018     case 'data'
0019             out=T.data;
0020     case 'numNodes'
0021             out=T.last;
0022     otherwise
0023       error('Unknown field in Balanced-Tree get');
0024   end