MotionModel Class Reference

Abstract Moiton Model class designed to be implemented by the different motion models. More...

#include <motion_models.hpp>

Inheritance diagram for MotionModel:

Collaboration diagram for MotionModel:

Public Member Functions
	MotionModel (const Eigen::MatrixXf &process_noise_covariance_matrix)
	Construct a new Motion Model object.
virtual Eigen::VectorXf	predict_expected_state (const Eigen::VectorXf &expected_state, const MotionUpdate &motion_prediction_data, const double time_interval) const =0
	Calculate expected state vector from motion estimation.
virtual Eigen::MatrixXf	get_motion_to_state_matrix (const Eigen::VectorXf &expected_state, const MotionUpdate &motion_prediction_data, const double time_interval) const =0
	Calculate state covariance matrix from motion estimation.
Eigen::MatrixXf	get_process_noise_covariance_matrix (const unsigned int state_size) const
	Get the process noise covariance matrix object.
virtual	~MotionModel ()=default

Static Public Member Functions
static Eigen::MatrixXf	create_process_noise_covariance_matrix (float process_noise)

Private Attributes
Eigen::MatrixXf	_process_noise_covariance_matrix
	R.

Detailed Description

Abstract Moiton Model class designed to be implemented by the different motion models.

Definition at line 34 of file motion_models.hpp.

Constructor & Destructor Documentation

MotionModel()

MotionModel::MotionModel ( 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 5 of file motion_models.cpp.

~MotionModel()

virtual MotionModel::~MotionModel ( )

virtualdefault

Member Function Documentation

create_process_noise_covariance_matrix()

Eigen::MatrixXf MotionModel::create_process_noise_covariance_matrix ( float  process_noise )

static

Definition at line 20 of file motion_models.cpp.

Here is the caller graph for this function:

get_motion_to_state_matrix()

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

pure virtual

Calculate state covariance matrix from motion estimation.

Corresponds to G in documentation

Parameters

expected_state
motion_prediction_data
time_interval	in seconds

Returns

Eigen::MatrixXf

Implemented in ImuVelocityModel, and NormalVelocityModel.

get_process_noise_covariance_matrix()

Eigen::MatrixXf MotionModel::get_process_noise_covariance_matrix

(

const unsigned int

state_size

)

const

Get the process noise covariance matrix object.

Parameters

state_size

Returns

Eigen::MatrixXf

Definition at line 14 of file motion_models.cpp.

predict_expected_state()

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

pure virtual

Calculate expected state vector from motion estimation.

Corresponds to g in documentation

Parameters

expected_state
motion_prediction_data
time_interval	in seconds

Returns

Eigen::VectorXf

Implemented in ImuVelocityModel, and NormalVelocityModel.

Member Data Documentation

_process_noise_covariance_matrix

Eigen::MatrixXf MotionModel::_process_noise_covariance_matrix

private

R.

Definition at line 35 of file motion_models.hpp.

---

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