get

PURPOSE

SYNOPSIS

DESCRIPTION

 Generic get for sensors

 Retrives information about a sensor.
 The possible fields to retive are:
     - noise: The noise of the sensor. We assume it constant.
     - allReadings: The set of readings associated with the sensor.
       The nature of these readings depend on the type of sensor.
     - reading: A particular reading (index given as a second paramter).

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(S,field,varargin)
0002 % Generic get for sensors
0003 %
0004 % Retrives information about a sensor.
0005 % The possible fields to retive are:
0006 %     - noise: The noise of the sensor. We assume it constant.
0007 %     - allReadings: The set of readings associated with the sensor.
0008 %       The nature of these readings depend on the type of sensor.
0009 %     - reading: A particular reading (index given as a second paramter).
0010 
0011   switch field
0012     case 'noise'
0013       out=S.noise;
0014     case 'allReadings'
0015       out=S.readings;
0016     case 'reading'
0017       out=S.readings{varargin{1}};
0018     otherwise
0019       error('Unknow field in Sensor get');
0020   end
0021