CAParticleModel Class Reference

#include <particle_model.hpp>

Inheritance diagram for CAParticleModel:

Collaboration diagram for CAParticleModel:

Public Member Functions
	CAParticleModel ()=default
Eigen::Vector3d	get_next_velocities (const Eigen::Vector3d &previous_velocities, const Eigen::Vector3d &imu_data, const double time_interval) override
	Predicts the next velocities based on the previous velocities and accelerations from IMU.
Eigen::Matrix3d	get_jacobian_velocities (const Eigen::Vector3d &previous_velocities, const Eigen::Vector3d &imu_data, const double time_interval) override
	Returns the Jacobian of the velocity process model.
Eigen::Matrix3d	get_jacobian_sensor_data (const Eigen::Vector3d &previous_velocities, const Eigen::Vector3d &accelerations, const double time_interval) override
	Returns the Jacobian of the velocity process model with respect to the accelerations.
Public Member Functions inherited from BaseVelocityProcessModel
	BaseVelocityProcessModel ()=default

Detailed Description

Definition at line 9 of file particle_model.hpp.

Constructor & Destructor Documentation

CAParticleModel()

CAParticleModel::CAParticleModel ( )

default

Member Function Documentation

get_jacobian_sensor_data()

Eigen::Matrix3d CAParticleModel::get_jacobian_sensor_data ( const Eigen::Vector3d &  previous_velocities, const Eigen::Vector3d &  accelerations, const double  time_interval  )

overridevirtual

Returns the Jacobian of the velocity process model with respect to the accelerations.

Parameters

previous_velocities	The velocities at the previous time step.
accelerations	The accelerations applied during the time interval.
time_interval	The time interval over which the accelerations are applied.

Returns

The Jacobian matrix of the velocity process model with respect to the accelerations

Implements BaseVelocityProcessModel.

Definition at line 30 of file particle_model.cpp.

get_jacobian_velocities()

Eigen::Matrix3d CAParticleModel::get_jacobian_velocities ( const Eigen::Vector3d &  previous_velocities, const Eigen::Vector3d &  accelerations, const double  time_interval  )

overridevirtual

Returns the Jacobian of the velocity process model.

Parameters

previous_velocities	The velocities at the previous time step.
accelerations	The accelerations applied during the time interval.
time_interval	The time interval over which the accelerations are applied.

Returns

The Jacobian matrix of the velocity process model.

Implements BaseVelocityProcessModel.

Definition at line 18 of file particle_model.cpp.

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get_next_velocities()

Eigen::Vector3d CAParticleModel::get_next_velocities ( const Eigen::Vector3d &  previous_velocities, const Eigen::Vector3d &  imu_data, const double  time_interval  )

overridevirtual

Predicts the next velocities based on the previous velocities and accelerations from IMU.

Parameters

previous_velocities	The velocities at the previous time step.
imu_data	ax, ay and angular velocity (angular velocity not used).
time_interval	The time interval over which the accelerations are applied.

Returns

The predicted velocities at the next time step.

Implements BaseVelocityProcessModel.

Definition at line 3 of file particle_model.cpp.

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

• src/motion_lib/include/motion_lib/vel_process_model/particle_model.hpp
• src/motion_lib/src/vel_process_model/particle_model.cpp