get

PURPOSE

SYNOPSIS

DESCRIPTION

 Generic get for relative positioning sensors

 Retrives information about a relative positioning sensor.

 The possible fields to retive are:
     - relativeDisplacements: The relative displacements of the robot
       according to this sensor.
     - absolutePoses: The pose of the robot along time according to this 
       sensor.
     - all the fields in a generic sensor.

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.
• Relative2Absolute Adds a displacement to a pose.
• get Get function for poses.
• size Number of parameters of the pose.
• Pose Generic pose constructor.
• 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(S,field,varargin)
0002 % Generic get for relative positioning sensors
0003 %
0004 % Retrives information about a relative positioning sensor.
0005 %
0006 % The possible fields to retive are:
0007 %     - relativeDisplacements: The relative displacements of the robot
0008 %       according to this sensor.
0009 %     - absolutePoses: The pose of the robot along time according to this
0010 %       sensor.
0011 %     - all the fields in a generic sensor.
0012 %
0013 
0014   switch field
0015     
0016     case 'relativeDisplacements'
0017       out=get(SB.RawSensor,'allReadings');
0018       
0019     case 'absolutePoses'
0020       n=size(S);
0021       if n==0
0022         out=0;
0023       else
0024         out=cell(1,n+1);
0025         if nargin>2
0026           out{1}=Pose(varargin{1});
0027         else
0028           d=size(get(S,'reading',1)); % dim of the poses
0029           out{1}=Pose(zeros(d,1));
0030         end
0031         for i=1:n
0032           out{i+1}=Relative2Absolute(out{i},get(S,'reading',i));
0033         end
0034       end      
0035     otherwise
0036       out=get(S.Sensor,field,varargin{1:end});
0037   end
0038