Formula Student Autonomous Systems
The code for the main driverless system
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Public Member Functions | List of all members
OdometryModel Class Reference

Motion model to apply to odometry sources which already output pose. More...

#include <odometry_model.hpp>

Inheritance diagram for OdometryModel:
Inheritance graph
Collaboration diagram for OdometryModel:
Collaboration graph

Public Member Functions

Eigen::Vector3d get_pose_difference (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t) override
 Gives the increments to the pose instead of the next pose.
 
Eigen::Matrix3d get_jacobian_pose (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t) override
 Get the Jacobian matrix of the motion model in relation to motion_data (commands)
 
Eigen::MatrixXd get_jacobian_motion_data (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t) override
 Get the Jacobian matrix of the motion model in relation to motion data (commands)
 
- Public Member Functions inherited from V2PMotionModel
virtual ~V2PMotionModel ()=default
 
virtual Eigen::Vector3d get_next_pose (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t)
 Predict the pose of the robot given the motion data.
 

Detailed Description

Motion model to apply to odometry sources which already output pose.

This model is used so that odometry sources also have a motion model and code remains the same for every solution

Definition at line 15 of file odometry_model.hpp.

Member Function Documentation

◆ get_jacobian_motion_data()

Eigen::MatrixXd OdometryModel::get_jacobian_motion_data ( const Eigen::Vector3d &  previous_pose,
const Eigen::VectorXd &  motion_data,
const double  delta_t 
)
overridevirtual

Get the Jacobian matrix of the motion model in relation to motion data (commands)

This is used to multiplty by the motion data noise to get the matrix to be summed to the covariance

Parameters
previous_pose
motion_data(Deltax, Deltay, Delta_theta)
delta_t
Returns
Eigen::Matrix3d

Implements V2PMotionModel.

Definition at line 23 of file odometry_model.cpp.

◆ get_jacobian_pose()

Eigen::Matrix3d OdometryModel::get_jacobian_pose ( const Eigen::Vector3d &  previous_pose,
const Eigen::VectorXd &  motion_data,
const double  delta_t 
)
overridevirtual

Get the Jacobian matrix of the motion model in relation to motion_data (commands)

Parameters
previous_pose
motion_data(Deltax, Deltay, Delta_theta)
delta_t
Returns
Eigen::Matrix3d

Implements V2PMotionModel.

Definition at line 16 of file odometry_model.cpp.

◆ get_pose_difference()

Eigen::Vector3d OdometryModel::get_pose_difference ( const Eigen::Vector3d &  previous_pose,
const Eigen::VectorXd &  motion_data,
const double  delta_t 
)
overridevirtual

Gives the increments to the pose instead of the next pose.

Parameters
previous_pose
motion_data(Deltax, Deltay, Delta_theta)
delta_t
Returns
Eigen::Vector3d

Implements V2PMotionModel.

Definition at line 6 of file odometry_model.cpp.

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