Base class for velocity estimation observation models. More...

#include <ve_base_observation_model.hpp>

Inheritance diagram for VEObservationModel:

Collaboration diagram for VEObservationModel:

Public Member Functions
	VEObservationModel (const common_lib::car_parameters::CarParameters &car_parameters)

virtual Eigen::VectorXd	expected_observations (const Eigen::VectorXd &state) const =0
	Calculates expected observations based on the state.

virtual Eigen::MatrixXd	expected_observations_jacobian (const Eigen::VectorXd &state) const =0
	Calculates the Jacobian of the expected observations with respect to the state.

Protected Attributes
std::shared_ptr< common_lib::car_parameters::CarParameters >	car_parameters_

Detailed Description

Base class for velocity estimation observation models.

Definition at line 12 of file ve_base_observation_model.hpp.

Constructor & Destructor Documentation

◆ VEObservationModel()

VEObservationModel::VEObservationModel ( const common_lib::car_parameters::CarParameters & car_parameters )

inline

Definition at line 17 of file ve_base_observation_model.hpp.

Member Function Documentation

◆ expected_observations()

virtual Eigen::VectorXd VEObservationModel::expected_observations ( const Eigen::VectorXd & state ) const

pure virtual

Calculates expected observations based on the state.

The state vector can contain variable information about the vehicle's dynamic state, such as its velocity or acceleration. The expected observations are the sensor readings that the model predicts based on the current state of the vehicle, and can vary depending on the type of sensor being used.

Parameters

state The state vector containing information about the vehicle's dynamic state. May have different sizes for different observation models.

Returns: Eigen::VectorXd The vector of expected observations which can have different sizes depending on the observation model.

Implemented in NoSlipBicycleModel.

◆ expected_observations_jacobian()

virtual Eigen::MatrixXd VEObservationModel::expected_observations_jacobian ( const Eigen::VectorXd & state ) const

pure virtual

Calculates the Jacobian of the expected observations with respect to the state.

Parameters

state The state vector containing information about the vehicle's dynamic state.

Returns: Eigen::MatrixXd The Jacobian matrix of expected observations with respect to the state.

Implemented in NoSlipBicycleModel.

Member Data Documentation

◆ car_parameters_

std::shared_ptr<common_lib::car_parameters::CarParameters> VEObservationModel::car_parameters_

protected

Definition at line 14 of file ve_base_observation_model.hpp.

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

src/perception_sensor_lib/include/perception_sensor_lib/observation_model/ve/ve_base_observation_model.hpp

Public Member Functions

Protected Attributes