%SETROBOT Set robot from map. % M = SETROBOT(M,R) sets the robot object in map M if M already % contains a robot. Otherwise M will be unchanged. Use ADDENTITY % to add a robot to a map. % % Note that the assignment to the output M is necessary since % Matlab does not support passing arguments by reference. % Hence the set method actually operates on a copy of the object. % % See also MAP/GETROBOT, MAP/GET. % Copyright (c) 2004, CAS-KTH. See licence file for more info. % v.1.0, Jan. 2004, Kai Arras function M = setrobot(M,r); if isa(M,'map') & isa(r,'robot'), % search robot (one robot per map assumed) found = 0; i = 1; while (i if isa(M.X{i},'robot'), found = 1; else i = i + 1; end; end; % set robot pose and pose covariance M.X{i} = set(M.X{i},'x',get(r,'x')); M.X{i} = set(M.X{i},'c',get(r,'c')); % make consistent, update C structure M.C(i,i).C = get(r,'c'); else error('map/setrobot: Wrong input. Check your arguments') end;
