ImuVelocityModel Class Reference

Motion estimation that uses the specific values of the x and y axis accelerations, being the angle of the vehicle and its position independent. More...

#include <motion_models.hpp>

Inheritance diagram for ImuVelocityModel:

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Public Member Functions
	ImuVelocityModel (const Eigen::MatrixXf &process_noise_covariance_matrix)
	Construct a new Motion Model object.
Eigen::VectorXf	predict_expected_state (const Eigen::VectorXf &expected_state, const MotionUpdate &motion_prediction_data, const double time_interval) const override
	Calculate expected state vector from velocity model using IMU data and linear functions Uses translational velocity in x and y axis.
Eigen::MatrixXf	get_motion_to_state_matrix (const Eigen::VectorXf &expected_state, const MotionUpdate &motion_prediction_data, const double time_interval) const override
	Calculate state covariance matrix from velocity model using IMU data and linear functions Uses translational velocity in x and y axis.
Public Member Functions inherited from MotionModel
	MotionModel (const Eigen::MatrixXf &process_noise_covariance_matrix)
	Construct a new Motion Model object.
Eigen::MatrixXf	get_process_noise_covariance_matrix (const unsigned int state_size) const
	Get the process noise covariance matrix object.
virtual	~MotionModel ()=default

Private Attributes
Eigen::MatrixXf	_process_noise_covariance_matrix

Additional Inherited Members
Static Public Member Functions inherited from MotionModel
static Eigen::MatrixXf	create_process_noise_covariance_matrix (float process_noise)

Detailed Description

Motion estimation that uses the specific values of the x and y axis accelerations, being the angle of the vehicle and its position independent.

Definition at line 93 of file motion_models.hpp.

Constructor & Destructor Documentation

ImuVelocityModel()

ImuVelocityModel::ImuVelocityModel ( const Eigen::MatrixXf &  process_noise_covariance_matrix )

explicit

Construct a new Motion Model object.

Parameters

process_noise_covariance_matrix

covariance matrix of the process noise (R)

Definition at line 11 of file motion_models.cpp.

Member Function Documentation

get_motion_to_state_matrix()

Eigen::MatrixXf ImuVelocityModel::get_motion_to_state_matrix ( const Eigen::VectorXf &  expected_state, const MotionUpdate &  motion_prediction_data, const double  time_interval  ) const

overridevirtual

Calculate state covariance matrix from velocity model using IMU data and linear functions Uses translational velocity in x and y axis.

Parameters

expected_state
motion_prediction_data
time_interval	in seconds

Returns

Eigen::MatrixXf

Implements MotionModel.

Definition at line 104 of file motion_models.cpp.

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predict_expected_state()

Eigen::VectorXf ImuVelocityModel::predict_expected_state ( const Eigen::VectorXf &  expected_state, const MotionUpdate &  motion_prediction_data, const double  time_interval  ) const

overridevirtual

Calculate expected state vector from velocity model using IMU data and linear functions Uses translational velocity in x and y axis.

Parameters

expected_state
motion_prediction_data
time_interval	in seconds

Returns

Eigen::VectorXf

Implements MotionModel.

Definition at line 86 of file motion_models.cpp.

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Member Data Documentation

_process_noise_covariance_matrix

Eigen::MatrixXf ImuVelocityModel::_process_noise_covariance_matrix

private

Definition at line 94 of file motion_models.hpp.

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The documentation for this class was generated from the following files:

• src/ekf_state_est/include/kalman_filter/motion_models.hpp
• src/ekf_state_est/src/kalman_filter/motion_models.cpp