BaseVelocityProcessModel Class Reference

Base class for velocity process models, used to predict the next velocities based on previous velocities and accelerations. More...

#include <base_vel_process_model.hpp>

Inheritance diagram for BaseVelocityProcessModel:

Collaboration diagram for BaseVelocityProcessModel:

Public Member Functions
	BaseVelocityProcessModel ()=default
virtual Eigen::Vector3d	get_next_velocities (const Eigen::Vector3d &previous_velocities, const Eigen::Vector3d &accelerations, const double time_interval)=0
	Returns the next velocities based on the previous velocities and accelerations.
virtual Eigen::Matrix3d	get_jacobian_velocities (const Eigen::Vector3d &previous_velocities, const Eigen::Vector3d &accelerations, const double time_interval)=0
	Returns the Jacobian of the velocity process model.
virtual Eigen::Matrix3d	get_jacobian_sensor_data (const Eigen::Vector3d &previous_velocities, const Eigen::Vector3d &accelerations, const double time_interval)=0
	Returns the Jacobian of the velocity process model with respect to the accelerations.

Detailed Description

Base class for velocity process models, used to predict the next velocities based on previous velocities and accelerations.

Definition at line 10 of file base_vel_process_model.hpp.

Constructor & Destructor Documentation

BaseVelocityProcessModel()

BaseVelocityProcessModel::BaseVelocityProcessModel ( )

default

Member Function Documentation

get_jacobian_sensor_data()

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

pure virtual

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

Implemented in CAParticleModel.

get_jacobian_velocities()

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

pure virtual

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.

Implemented in CAParticleModel.

get_next_velocities()

virtual Eigen::Vector3d BaseVelocityProcessModel::get_next_velocities ( const Eigen::Vector3d &  previous_velocities, const Eigen::Vector3d &  accelerations, const double  time_interval  )

pure virtual

Returns the next velocities based on the previous velocities and 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 predicted velocities at the next time step.

Implemented in CAParticleModel.

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

• src/motion_lib/include/motion_lib/vel_process_model/base_vel_process_model.hpp