get
PURPOSE 
Get function for PoseData objects.
SYNOPSIS
function out=get(PD,field)
DESCRIPTION
Get function for PoseData objects.
Allows acces to the information stored in a PoseData object, PD.
Possible fields to query are
- isInterval: true if the PoseData object includes intervalar
information, i.e, if it holds information for a collection of
poses.
- mean: The mean stored in the PoseData object. This can be a vector
of doubles or a vector of intervals depending on wether the
PoseData is refered to a single pose or to a set of poses.
- covaraince: The covariance stored in the PoseData object. This can
be a matrix of doubles or a matrix of intervals depending on wether the
PoseData is refered to a single pose or to a set of poses.
- crossCovarianceData: Data to recover the cross covariance or the
pose with the current robot's pose. Note that this is not directly
the cross-covariance (the accumulation of linarized motions are needed
to get the actual cross-covariances).
- Gaussian: A Gaussian derived from the data stored in the PoseData
object. This only works for PoseData objects including the
information of single poses.
- Id: identifier(s) of the pose(s) represented by the PoseData
object.CROSS-REFERENCE INFORMATION
This function calls:
- Gaussian Defines a Gaussian.
- 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(PD,field) 0002 % Get function for PoseData objects. 0003 % 0004 % Allows acces to the information stored in a PoseData object, PD. 0005 % 0006 % Possible fields to query are 0007 % 0008 % - isInterval: true if the PoseData object includes intervalar 0009 % information, i.e, if it holds information for a collection of 0010 % poses. 0011 % - mean: The mean stored in the PoseData object. This can be a vector 0012 % of doubles or a vector of intervals depending on wether the 0013 % PoseData is refered to a single pose or to a set of poses. 0014 % - covaraince: The covariance stored in the PoseData object. This can 0015 % be a matrix of doubles or a matrix of intervals depending on wether the 0016 % PoseData is refered to a single pose or to a set of poses. 0017 % - crossCovarianceData: Data to recover the cross covariance or the 0018 % pose with the current robot's pose. Note that this is not directly 0019 % the cross-covariance (the accumulation of linarized motions are needed 0020 % to get the actual cross-covariances). 0021 % - Gaussian: A Gaussian derived from the data stored in the PoseData 0022 % object. This only works for PoseData objects including the 0023 % information of single poses. 0024 % - Id: identifier(s) of the pose(s) represented by the PoseData 0025 % object. 0026 0027 switch field 0028 case 'isInterval' 0029 out=PD.isInterval; 0030 case 'mean' 0031 out=PD.m; 0032 case 'covariance' 0033 out=PD.S; 0034 case 'crossCovarianceData' 0035 out=PD.CS; 0036 case 'Gaussian' 0037 out=Gaussian(PD.m,PD.S); 0038 case 'id' 0039 out=PD.id; 0040 otherwise 0041 error('Unknown field in PoseData get'); 0042 end