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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).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 |
R | measurement covariance matrix |
interval | valid measurements returned every interval'th call to reading() |
Jacobian dg/dx
J = S.RangeBearingSensor.gJacobian dg/dz
J = S.RangeBearingSensor.gJacobian dh/dv
J = S.RangeBearingSensor.hJacobian dh/dxv
J = S.Hx(xv, xf) as above but for a feature at coordinate xf.Jacobian dh/dxf
J = S.Hxf(xv, xf) as above but for a feature at coordinate xf.Range and bearing sensor constructor
s =Compute landmark location
p = S.RangeBearingSensor.Gx, RangeBearingSensor.GzLandmark range and bearing
z = S.h(xv, xf) as above but compute range and bearing to a feature at coordinate xf.RangeBearingSensor.Hx, RangeBearingSensor.Hw, RangeBearingSensor.Hxf
Landmark range and bearing
S.RangeBearingSensor.h© 1990-2011 Peter Corke.