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RangeBearingSensor

Range and bearing sensor class

A concrete subclass of Sensor that implements a range and bearing angle sensor that provides robot-centric measurements of the world. To enable this it has references to a map of the world (Map object) and a robot moving through the world (Vehicle object).

Methods

reading return a random range/bearing observation
h return the observation for vehicle state xv and feature xf
Hx return a Jacobian matrix dh/dxv
Hxf return a Jacobian matrix dh/dxf
Hw return a Jacobian matrix dh/dw
g return feature positin given vehicle pose and observation
Gx return a Jacobian matrix dg/dxv
Gz return a Jacobian matrix dg/dz

Properties (read/write)

R measurement covariance matrix
interval valid measurements returned every interval'th call to reading()

Reference

Robotics, Vision & Control, Peter Corke, Springer 2011

See also

Sensor, Vehicle, Map, EKF


RangeBearingSensor.Gx

Jacobian dg/dx

J = S.RangeBearingSensor.g


RangeBearingSensor.Gz

Jacobian dg/dz

J = S.RangeBearingSensor.g


RangeBearingSensor.Hw

Jacobian dh/dv

J = S.RangeBearingSensor.h


RangeBearingSensor.Hx

Jacobian dh/dxv

J = S.Hx(xv, xf) as above but for a feature at coordinate xf.

See also

RangeBearingSensor.h


RangeBearingSensor.Hxf

Jacobian dh/dxf

J = S.Hxf(xv, xf) as above but for a feature at coordinate xf.

See also

RangeBearingSensor.h


RangeBearingSensor.RangeBearingSensor

Range and bearing sensor constructor

s = 'range', xmax maximum range of sensor 'range', [xmin xmax] minimum and maximum range of sensor 'angle', TH detection for angles betwen -TH to +TH 'angle', [THMIN THMAX] detection for angles betwen THMIN and THMAX 'skip', I return a valid reading on every I'th call 'fail', [TMIN TMAX] sensor simulates failure between timesteps TMIN and TMAX

See also

Sensor, Vehicle, Map, EKF


RangeBearingSensor.g

Compute landmark location

p = S.RangeBearingSensor.Gx, RangeBearingSensor.Gz


RangeBearingSensor.h

Landmark range and bearing

z = S.h(xv, xf) as above but compute range and bearing to a feature at coordinate xf.

See also

RangeBearingSensor.Hx, RangeBearingSensor.Hw, RangeBearingSensor.Hxf


RangeBearingSensor.reading

Landmark range and bearing

S.RangeBearingSensor.h


 

© 1990-2011 Peter Corke.